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The micro aerial vehicle's (MAV) dynamic is nonlinear; in addition, due to the uncertainty aerodynamic parameters of MAV, it is difficult to establish the accurate mathematical model. So, controllers of altitude and velocity tracking is designed with the active disturbance rejection control (ADRC) algorithm aiming to achieve the high quality control of MAV'attitude, velocity, and altitude. In the first place, the nonlinear model of the MAV is established. Then, the vehicle's state and uncertainty factors is estimated by the extended state observer; the uncertainty parts and state coupling is compensated with the nonlinear feedback. Thus, the decoupling control of longitudinal channel was implemented. Finally, there is a simulation in order to demonstrate the performance of the designed controller , the result shows that the proposed ADRC control law can improve the robust performance of the system, and the effects is independent of the accurate mathematical model.