Multirotor unmanned aerial vehicles (MAVs) with the capability of interaction with their surroundings have recently received increasing attention. However, the rapid change parameters during flight present a challenge for the stable control of MAVs. In this paper, the baseline controller of a quadrotor is developed based on classical model reference adaptive control (MRAC) and an identifier is introduced to cope with the uncertainty in parameters. Specifically, the recursive least squares method with forgetting factor (FFRLS) is used to design the identifier. Both the baseline MRAC controller and augmented-MRAC controller are simulated to verify their effectiveness. The results show the improvements on stability in the presence of parameter change.