Because the Active Disturbance Rejection Control (ADRC) technology adopts too many controller parameters in the attitude control of quadrotor aircraft, it is difficult to obtain a set of optimal solutions. To solve the problem, a PSO algorithm with variable-weight hybridization is proposed. The algorithm is mainly composed of two parts. First, according to the distance between the particles in the particle group and the global optimal particle in the iterative process, the inertia weight is dynamically adjusted, and the coefficient is set to control the degree of influence on the inertia weight. Second, the hybridization is introduced. Within a specified number of iterations, if the global optimal value of the particle group does not change continuously, the specified number of particles are hybridized to increase the particle diversity and avoid falling into local optimum. The quadrotor model is built and simulated by Matlab/Simulink. The results show that the optimization algorithm is effective for ADRC controller parameter setting, which can ensure the control quality of the quadrotor and improve the design efficiency.