In this article, dynamics model is established by analyzing the structure of quadrotor, and fuzzy adaptive PID and conventional PID hybrid cascade control method is used aiming at the problems in the flight process. The quadrotor is an underactuated system, which has six degrees of freedom on the space but only four control degrees of freedom. We control the roll angle φ and pitch angle θ indirectly by controlling of aircraft on linear displacement x, y, z and yaw angle ψ in space coordinate system directly in order to realize the full control of aircraft. Using fuzzy adaptive PID mixed with the traditional PID controller makes the aircraft has higher robustness after adding disturbance, and improving the antiinterference ability of the body.