Abstract: In order to meet the needs of the embedded teching experiment reform and innovation,a quadcopter system teching experiment platform which based on the STM32F4 is constructed.The system takes STM32F4 floating-point processor as the main control chip,MPU6050 as the MEMS (Micro-Electro-Mechanical Systems) sensor is used to collect the accellration and angular velocity of the system.Quatertion Algorithm is used to express Euler angle simplification algorithm complexity,and the advantage and disadvantage of accelertion meter and angular velocity are used respectively to fuse the data.Serial PID is used to control the experimental platform.Practice shows that the experimental platform mainly includes the design of the attitude angle settlement and control algorithm,and the actual test and verification,which has some good results.