In　the　quadrotor　control,　the　largest　and　most　mature　arithmetic　is　the　PID　controller.　PID　control　is　simple　and　good　robust　algorithm,　adjust　the　quality　of　PID　parameters　directly　determine　control　effect,　The　PID　parameters　adjust　manual　debugging　using　trial　and　error　method,　this　testing　method　have　heavy　workload[1],　time-consuming　and　difficult　to　reach　a　good　control.　This　paper　introduces　a　simple　particle　swarm　optimization(sPSO)　method　to　adjust　the　PID　parameters,　the　sPSO　algorithm　can　quickly　and　accurately　find　the　optimal　parameters　solutions,　through　simulation　comparison　show　that　this　method　can　have　greater　flexibility,　robustness　and　adaptability　and　can　improve　the　control　precision.　So　the　control　system　has　good　practical　value.