Compared to the traditional flapping mode of hummingbirds, the flapping-wing-rotor micro aircraft vehicle (FWRMAV) has better aerodynamic characteristics for vertical take-off, landing, and hovering. However, ground personnel may find it difficult to confirm whether a FWRMAV, capable of performing multi-mode movements, follows specified flight modes and whether its various components can support normal movement of the entire body when it's in flight. Additionally, the complex battlefield environment may lead to mission changes, making it challenging to carry out effective status control and tracking. Therefore, it is crucial to collect and analyze real-time attitude data from FWRMAV and remotely monitor its movement. To facilitate better monitoring of the FWRMAV's motion attitude in future airborne experiments, we proposed a motion monitoring system for the FWRMAV innovatively based on the digital twin five-dimensional model framework which is called flapping-wing-rotor digital twin system (FWRDTS). The system utilizes multi-sensor and wireless communication technology to collect the motion parameter data of the key motion joints from the physical entity of FWRMAV. The data is then used to drive a virtual entity, which visualizes the behaviors of the FWRMAV in a real environment. At the same time, the physical entity can also perform the commands from the virtual entity synchronously. The results demonstrate that the FWRDTS is capable of monitoring the motion attitude of the FWRMAV in two motion modes, namely FW and FWR modes, as well as achieving transitions between them, subject to the requirements of consistency and synchronicity.