Problems of control of unmanned aerial vehicles (UAVs) are investigated. The problem of developing an automatic controller to maintain the spatial position of UAVs is addressed. The spatial position here is altitude, yaw, roll and pitch angles. It is assumed that the initial information comes from the MPU6000 type sensors. An approach to solving the problem of signal denoising and tuning is proposed. Sensors of this type output loads (accelerometers) and angular velocities. To calculate the current angle, it is necessary to integrate the angular velocities. In doing so, it becomes necessary to solve two problems. First, angular velocities are measured in the local coordinate system, while the spatial position of the UAV is calculated relative to the global coordinate system. Second, when integrating angular velocities, the effect of error accumulation occurs. The possibilities of refining gyroscope readings based on accelerometer readings are investigated. A simulation program is developed on the basis of a mathematical model of quadcopter motion. The source of forces and torques acting on the system is the Earth’s gravity, the thrust force and torques generated by the motors, and the drag force. Numerical methods are used to solve the system of equations. A PD controller is proposed to maintain the spatial position of the quadcopter. The coefficients are found experimentally. The proposed approach is verified in a computer simulation program.