The invention discloses the measurement and control system of a quad-rotor unmanned aerial vehicle scientific research and teaching test bench. The system is formed by a hardware circuit and measurement and control software. The hardware circuit is formed by an angle encoder, a main control chip, a decoding board, a gyroscope, a sensor, a remote controller, and an attitude adjustment mechanism. Anunmanned aerial vehicle rolling signal is transmitted to rolling angle control software via the angle encoder and the decoding board, and an attitude response curve is displayed and a corresponding PID parameter is adjusted according to a curve change trend. The software is used to feed back a parameter modification instruction to the main control chip, and simultaneously, the desired posture ofa remote control instruction is compared with the real-time posture monitored by the gyroscope, and a result is used as a control input. Through the main control chip, two input instructions are operated and processed, and then a corresponding control command is output. Through the organic combination of the software and hardware, the smooth flight of the single degree of freedom of an unmanned aerial vehicle is realized. The system has guiding significance for studying the control mechanism of a rotor unmanned aerial vehicle, and has an important reference value for the development of an unmanned aerial vehicle control system.