The utility model provides an unmanned aerial vehicle attitude control testing arrangement of external frame, including the base, first, second, third revolute pair, first, the 2nd rotating device, installing module and unmanned aerial vehicle module, the base is fixed in fixed surface, a rotating device is connected through first revolute pair with the base, the 2nd rotating device and a rotating device are connected through the second revolute pair, be connected through the third revolute pair between installing module and the 2nd rotating device, the unmanned aerial vehicle module is installed on installing module. The utility model discloses based on mechanical 6 -degree of freedom mechanical structure design principle, through fixing the unmanned aerial vehicle module the comprehensive emulation that realizes qxcomm technology's flight gesture of every single move, driftage, the three rotational degree of freedom of lift -over of fuselage at the installing module of device. The utility model discloses a space usage is very little, can carry out unmanned aerial vehicle's indoor debugging, has avoided the complicated flow of outdoor debugging to avoid debugging the unsafe factor that the in -process caused to crowd and unmanned aerial vehicle.