An optimization control algorithm based on the combination of inversion adaptive control and classic PID control is proposed for the optimization of the quadrotor attitude control algorithm.The algorithm uses the controllers designed by different control algorithms in combination. The control system is divided into two loops: the attitude angle and height channel are inner loops, and the plane channels x and y are outer loops. The simulation results show that the inversion adaptive PID control algorithm has a very good control performance. Compared with other control algorithms, it has a great improvement on stability, response, anti-jamming ability and accuracy.