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In the paper the simple adaptive control approach is employed to designing the adaptive controllers of every quadrotor position: attitude, altitude, latitude and longitude. Many factors could affect to UAVs changing its dynamic and, as consequence, the control quality. Some applications require adding some physical load to quadrotors such as video cameras, packages and etc. So it is very important to use control system that could be flexible and adaptive for different plants parameters. The adaptive controllers are synthesized based on the Implicit Reference Model (IRM) design technique. The "shunting method'' (parallel feedforward compensation) is used to cope with the unmodelled plant dynamics. Feedback is used to prevent the increasing of controller coefficients caused by external disturbances or sensor noise. Quality of the closed-loop IRM adaptive control system is studied for stabilization and tracking cases Computational simplicity is necessary for small quadrotor autopilots because of its low computational capacity: most autopilots use low powerful microprocessors for computing control signals, processing sensors data, sending telemetry over communication channels. It is shown that proposed algorithm for full quadrotor control is easy to implement.