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In order to overcome the problem of poor performance of the traditional controller in controlling the four-rotor attitude, a four-rotor attitude controller design based on the auto-disturbance decoupling model is proposed. The hardware structure is connected to the computer through the PCIE-PCI adapter card and the motion control board. The motion control board is used to calculate the control amount of the four-rotor motor; the MACH4 motion control board is used to effectively control the attitude and acceleration of the four-rotor; A step change in the control quantity is formed in the electrical output circuit, and the small current is used to control the large current to effectively control the four-rotor attitude angular velocity; the MS-S3 model with digital display servo driver can automatically adjust the output current of the driver according to the load. The microcontroller is designed based on the Cortex-M4 core structure to effectively control the attitude of the four-rotor. Analyze the force situation of the four-rotor attitude controller, build an auto disturbance rejection decoupling model, calculate the distance and the moment of inertia from the center of the propeller to the origin of the body coordinates with the support of roll angle, pitch angle and yaw angle, with the help of Visual C ++ 6.0 Design control flow. The experimental results show that taking the X-axis as an example, the average acceleration of the quadcopter is 0.8m/s2, the average angular velocity is 6.08m/s, and the average attitude angle is 10.5°, which is consistent with the actual situation. It shows that the controller can achieve stable control of flight attitude.