In this study, for a quadrotor's stability has been designed control system. Mechanic and software design of the machine was actualized for this purpose. To do this project four brushless motors have been used. Each motor has been controlled by an ESC(Electronic Speed Controller). The ESCs have been controlled by the microcontroller with Proportional Integral Derivative (PID) controller. To keep the quadrotor flight vehicle stable in the air a gyroscope, an accelerometer sensor and a barometer sensor have been used so that the microcontroller could detect undesired changes in the quadrotor flight vehicle's angle and adjust each motor speed accordingly to the variation. For the entire contraption's energy consumption has been used a lithium polymer battery. The performance of the system was proved in the laboratory. Thanks to PID controller, a good performance was obtained indoor areas.