To address the challenge of limited flight duration in drones, research into in-flight inductive power transfer has emerged as a crucial solution. In this regard, optimizing the flight trajectory is vital for maximizing energy reception during a single pass over the transfer coils. This paper proposes a strategy that incorporates trajectories optimized on the basis of pitch angle. The optimal trajectories are derived analytically using a pitch dependent mutual inductance model, and implemented on the drone's motion controller as the reference input for each cascaded control loop. The proposed method has been validated through simulations and experiments. Implementation of two proposed trajectories in the experiments reveals that the drone's receiving power could be improved by 13.4 % maximum compared to the conventional method.