Abstract: Quad-rotor flight vehicle is a research hotspot, so it can be a good example to the teaching of the automation control theory. In order to teach the flight control system of the quad-rotor flight vehicle, a self-made teaching device of 3-DOF (degree of freedom) attitude control is designed and developed, and the 3-channel linear overlay control of cascade PID is realized. The device is based on STM32 MCU (Micro Controller Unit), which allows the students to program their own control laws and embed them into the system, and run the laws in the system for verification. After the promotion to the innovation study course for undergraduate students, the device has received satisfying comments.