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with the application of multi rotor UAV is increasingly extensive,its weak monitoring capacity has become evident. Self monitoring ability of multi rotor UAV is not a very important link in computer automation. Therefore,a small radio type MSP430F4152 automatic dependent surveillance equipment,which can make the multi rotor UAV with independent monitoring ability. This paper optimized the existing automatic dependent surveillance broadcast technology of the embedded system. The hardware part takes MSP430F4152 micro controller as main control chip,acquire the position information and time synchronization signal through the ATGM331C module,and wireless data transmission by nRF24L01+ module,and finally display the machine information and remote data in the J204A display. The software part do optimization design of the battery powered hardware,refer to the UAT data link design time sequence of the system,using Asterix Category 021 protocol and design the system message format. The experiment is implemented to test the proposed method in this paper,and the result shows it can achieve automatic monitoring,so it is a feasible method for UAV.