The control of an unmanned aerial vehicle (UAV) requires a two-way radio communication between the UAV and ground control station (GCS). This radio communication is achieved through the use of antennas as medium of recital and transmission in the data-link system. This paper presents the project of an in-house lowcost development of a UAV automatic antenna tracking system. The presentation includes the control system design, hardware and software development, system integration and testing stage. The development ended with a successfully operational automatic antenna tracking system in a benchtop testing and validation.