The rotation of the Qball2 quadrotor yaw angle is provided by the reverse torsion, which is more prone to the speed saturation than the pitch and roll angles powered by the lift, and the model has the features of parameter uncertainty, strong coupling, and is susceptible to external interference. To solve the above problems, a Linear Active Disturbance Rejection Control (LADRC) algorithm based on error compensation is used to control the yaw attitude. The LADRC algorithm has the advantages of not based on model, strong anti-interference ability and simple parameter setting. The anti-saturation scheme based on error compensation has a simple structure, high flexibility and good anti-saturation performance. The simulation and Qball2 platform experimental results show that the designed controller can better solve the problem of yaw angle speed saturation and improve the dynamic performance and steady state performance of the system.