his paper addresses the trajectory tracking problem for a quadcopter system under nominal and fault-affected scenarios, the latter case considers stuck actuator(s)). Differential flatness is employed for trajectory generation and control design. The particularity resides in that a full parametrization of the states and inputs is given without any assumptions or simplifications on the quadcopter dynamics. Furthermore, using the properties of flatness and a combination between computed torque control and feedback linearization, a two layer control design is proposed. The tracking performances and stability gurantees are analyzed for nominal and faulty functioning under extensive simulations.