The paper deals with the quadcopter dynamics model identification. The vertical translation is separated as the SISO control loop. The transfer functions from the throttle to vertical velocity and to altitude are studied. The finite-frequency identification is exploited to estimate the transfer function coefficients. This approach includes the feature of the closed loop identification, that is, a controller operates to stabilize the system and to provide performance during the identification test. However, the controller formulae and parameters are not needed for identification. It is important for a quadcopter controlled by standard autopilot software. A standard quadcopter is used as the experimental setup. The identification results from the experimental flight data are considered.