Based on the traditional PID control law, the flight control laws for attitude control loop of unmanned helicopter are designed using fuzzy control logic.The fuzzy self-tuning PID controller can adapt the parameters of PID controller online, which can improve the controller performance.Utilizing the closed-loop control algorithm simulation in Matlab, the performance of fuzzy self-tuning PID controller is proved to be better than that of the traditional one.Then the hardware in loop is used to verify the proposed controller of this paper, which is based on the ARM STM32 core flight control system.The optimization performance is verified by comparing the zero-state responses of the two controllers with the typical inputs.