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An advanced flight control system based on the open source flight control APM is designed. The advanced flight control system includes hardware circuit modules and software algorithm modules. The MAVLink protocol is used to control the APM drone. An advanced flight control system to control the drone is designed. Key take-off control process, remote control function, upload flight mission to APM flight control function. The UCOSIII operating system was transplanted, and the formation network architecture method was designed in conjunction with the MAVLink protocol to reduce the protocol data flow to adapt to the limit of the amount of network communication data. Test the drone cluster search based on the particle swarm algorithm on an advanced flight control system And the algorithm simulation experiment of planning the route, the results show that the real-time requirements and communication requirements are met, and the calculated waypoints are sent to the drone through the protocol to achieve the drone flight path planning. The functions of the advanced flight control system are also applicable. Other flight controls based on the MAVLink protocol, such as the PX4 flight control, have a wide range of applications.