Quadcopter pitch and roll control loops are considered. The most common is a cascade control system with a proportional controller in the angle outer loop and with a proportional-integral-derivative controller in the angular velocity inner loop. The problem is that the dynamics of pitch and roll angular velocities can be described by a transfer function with differentiating element. Then, a controller with an integral component results in a closed-loop system with characteristic polynomial containing a zero root. A PID-controller design procedure based on the pole placement approach is proposed for this specific case.