In order to improve the speed of attitude solution and the precision of attitude estimation for four-rotor aircraft

an attitude calculation system based on hardware floating-point computing unit（FPU） is proposed. Taking STM32F407ZET6 and MPU 9250 as experimental platforms

the original data of inertial measurement unit（IMU）sensors are processed by sliding average filtering

and calculated by complementary filtering algorithm

and the complementary filtering algorithm is accelerated by the hardware FPU of the DSP library. The experimental results show that the system can increase the speed of attitude solution to 800 Hz

the precision of pitch angle is increased to ± 0. 17°

the precision of roll angle is increased to ± 0. 26°

and the precision of yaw angle is increased to± 0. 03°

which meets the requirements of accuracy and rapidity of attitude solution for small quadruple-rotor aircraft.