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Four rotor attitude controller adopts the inertial measurement unit which integrated accelerometer with gyro, gather attitude data real-time, then transferred to the Cortex-M4 core processing chips, Using the attitude of quaternion calculation method, the data integration of acceleration and angular velocity is calculated. And use positional PID control algorithm to control four brushless motor speed to achieve controlled four-rotor aircraft flight attitude. Establish universal platform debug system, through the practice of testing to verify controller can achieve the stability control of four rotor profile. The stable flight attitude average oscillation angle range is 5 degree.