Recently, Unmanned Aerial Vehicles (UAVs) or drones are used in several applications in daily life to assist or accelerate the process of doing specific tasks. Meanwhile, the steps towards saving energy and improving the efficiency of the buildings are significantly increasing. From there, the motivation for this project is grown. So, this project aims to design an autonomous system for a drone, to fly near to high-rise buildings in Qatar to measure the cooling leakage from inside the building to its outside. The drone design will be achieved using a thermal camera to detect the leakage locations. Also, the drone needs proximity sensors, specifically, Lidar sensor to prevent the drone from colliding with the towers that will be tested.