Six rotor eppo drones in the job itself in the process of load change will cause the aircraft flight control performance, resistance to environmental disturbance ability becomes poor. In order to improve the six rotor eppo unmanned aerial vehicle (UAV) control, the UAV in the process of spraying pesticide has carried on the analysis and modeling, deduced the eppo UAV time-varying dynamics mathematical model. Improved the traditional PID control algorithm, a fuzzy adaptive PID control algorithm is proposed. Adaptable fuzzy adaptive algorithm, parameter setting is simple and improves the system dynamic response and steady state performance, realize the stability of the six rotor eppo UAV flight. The system hardware experimental platform mainly includes the accelerometer and gyroscope and magnetic compass and STM32 microcontroller.To measure parameters of each sensor input to the fuzzy adaptive PID algorithm, can get the corresponding control, realizes stable operation of aircraft. Using Matlab to the simulation control system, results show that the dynamic performance and stability of the system is also improved.