As the simplest structure, the highest cost and energy efficiency ratio, but the lowest reliability of the symmetrical dynamic distributed multi-rotor flight platform, the four-axis vehicle is very suitable for the training, learning and research platform of the multi-rotor aircraft. This design makes rational use of STC15 series MCU’s on-chip peripherals to deploy the necessary sensors and communication modules while reserving the expansion interface, and finally forms the hardware system of the four-axis flight controller. With the corresponding software, remote control and semi-autonomous flight control of the micro four-axis vehicle can be realized. Experiments show that the design has low cost, stable operation and strong scalability. It is suitable for multi-rotor aircraft enthusiasts to learn and 51 single chip computer teaching. Aircraft can be divided into two categories: multi-rotor and fixed-wing. Compared with the latter, the most prominent advantages of the former are vertical takeoff and landing and fixed-point hovering, so it is easy to get rid of site constraints and achieve high-precision operation. Based on this advantage, it is very suitable for missions such as reconnaissance, follow-up and low uniform air operations. It can be seen that its application area is much broader than that of fixed wing, so it has attracted wide attention from all kinds of personnel in relevant industries, and the focus of attention is mostly on 4-rotor (4-axis) aircraft. In this context, combined with the current situation that 51-Core single chip computer is widely used in MCU teaching in domestic colleges and universities, a micro four-axis flight controller (maximum wheelbase less than 15 cm, take-off weight less than 500 g) is designed based on STC15 series single chip computer, which is relatively advanced in performance and peripherals. It is not only for teaching single chip computer, but also for training a new generation of UAV. R