Aiming at the decoupling control of the attitude and position of the quad-rotor aircrafts, a hybrid control strategy combining Dynamic Inversion Controller (DIC) with PID controller was proposed. Firstly, the quad-rotor model was taken as a single rigid body, and its nonlinear dynamic model was built through Newton-Euler equation. Then, we used the DIC theory to design the inner-loop controller, and the PID control theory to design the outer-loop controller. And thus the decoupling control of the attitude and position was realized. Finally, step response and upward spiral curve tracking were used to verify the stability and effectiveness of the proposed control strategy in the simulation. Meanwhile, the control code was written into the flight control system. The feasibility of the control algorithm was tested through flight tests. The results show that the proposed control algorithm can strongly resist the uncertain model dynamics and external disturbances, and it can satisfy the requirements of the attitude control and position control for the quad-rotor aircrafts.