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Four axis is instability, nonlinear, strong coupling and other features, four axis attitude control is the core of the aircraft flight control system By analyzing the four axis aircraft flight principle, according to its mathematical model and the function of the system, designed the four axis spacecraft attitude control system The system USES stm32 series of 32-bit processor as the main controller, using ADIS16355 sensors such as inertial measurement unit are used in attitude information detection System based on the idea of modular design, each sensor using the digital interface for data exchange, structure is simple For closed-loop control of attitude Angle using PID control algorithm, experimental results show that the craft can better stability in the experimental platform, the system meet the requirements of four axis aircraft flying indoor attitude control.