A new attitude vector control scheme is proposed for the problem of singular point in the attitude control of Euler angle for quadrotors.The attitude error is represented by the attitude vector

not the Euler angle

so that the inherent geometric singularity of the rotation of the rigid body and the trigonometric function of the Euler angle are both avoided

resulting in significant reduction in computation time for the single-chip microcomputer.In control design

the auto-disturbance rejection control（ADRC）technology is used to further improve the performance of the attitude controller and to realize the complex multi-rotor maneuvering flight.Finally

characteristics of the proposed new method is analyzed and discussed

and the effectiveness of the proposed full attitude vector control is implemented and evaluated in actual physical flights with great success.