According to the properties such as nonlinear and coupling in UAV flight maneuver, the inner-loop consisted of pitch rate and roll rate controller based on dynamic inversion method is proposed. Directly calculate inversion model through mathematics analysis method to cancel the system nonlinearity and realize path coupling. Combination with the requirements of frequency and time domain, the normal acceleration and roll angle outer-loop controller is designed by root locus method. UVA nonlinear simulation results show that the roll angle based on dynamic inversion and time frequency quality of overload controller meets flight control requirements of UAV.