The basic control for the application of unmanned aerial vehicles(UAVs), commonly known as a drone, is through automatic pilot and navigation guidance. In order for this control to function, one must deal with the terrestrial magnetism and acceleration sensors first. In this paper, the ArduPilot board and the Arduino are combined to structure UAV control system. The flight control method was examined, in an processing IDE, while each sensor was incorporated to design and develop an UAV as a quadcopter. With PID control, control parameter Kp, Ki, and Kd for balancing the flight were calculated by experimental method. Next, the optimal profit value was applied to an UAV with Multiwii Config program. P control could approach the object value flexibly throughout the experiment. Additionally, when it came to the value, it tilted to the heavy direction. After solving the problems in the PI control, it was utilized to achieve a balance through raising the output in the motor of the heavy part in said UAV. When the UAV experiences sudden change in tilt, D control helps to reach the object value quickly. As a result, by using the Multiwii board is a low-cost, it is possible to construct a stable UAV flight environment.