In this work, the mathematical model of quadcopter is given in both nonlinear and linearized forms and open-loop control is constructed based on the set point for a linear model of a quadcopter, as well as coefficients of PID controllers is carried out. A numerical simulation has been performed in the Matlab/Simulink environment. This work considers a fairly stable and easy-to-implement control law for a quadrocopter, which can be applied in various social spheres.