Based on the nonlinear flight control model of quadrotor aircraft, an improved method was proposed for self-tuning the coefficients of 2D direct-acting type fuzzy PID controllers. By analyzing the fuzzy logic relations between quantization factors and inputs/output of fuzzy logic controller, fuzzy logic tuners were designed separately for quantization factors, including the fuzzy inputs and fuzzy rules. A self-tuning algorithm was applied to implement on-line adjustment of the quantization factors. The simulation of attitude control of quadrotor aircraft was conducted by developing the dynamic model and analyzing the control channels. Comparing with the classical PID-type fuzzy logic controller, the proposed controller shows better performance on dynamic response speed and anti-interference capability.