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The attitude monitoring is one of the main factors to realize normal flight of four-rotor aircraft. The flight controller controls the flight but can not accurately obtain the real-time attitude data. There are some errors and the accuracy is low. To solve the above problems, this paper used STM32F103RBT6 single chip microcomputer and MPU9250 sensor to collected the flight altitude, flight speed, roll angle and pitch angle of the four-rotor aircraft during flight, and transmits the data to LabVIEW software platform of the upper computer. In the virtual software platform, the attitude information of the four-rotor aircraft is displayed, stored, alerted and played back.