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In a four-rotor aircraft attitude control system, traditional incremental PID control algorithm exists insufficient shortcoming of self-tuning parameters. In view of the shortcoming, an improved single neuron adaptive PID control algorithm is proposed, on the basis of weighting coefficients being adjusted, the adaptive PSD control method is introduced in the improved algorithm, at the same time the adaptive adjustment of proportional coefficients is increased. With the support of flight test platform and through the establishment of four rotor aircraft dynamic model, the simulation is carried out to verify the improved algorithm. The simulation result shows that the adaptive single neuron PID algorithm makes controller structure simple, has fast response speed, high precision, higher robustness and higher adaptive ability, can realize four-rotor aircraft attitude stability control effectively.