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The real-time embedded control system for the quad-rotor helicopter is designed by using commercially available components which are inexpensive with the driver modified of BLDC (Brushless Direct Current) motor. These components are integrated into the electric PCB (Printed Circuit Board) meanwhile the corresponding embedded multitasking software is developed. We evaluate the performance of this platform in the quad-rotor helicopter using two different control strategies. It is showed by experimental results that the real-time embedded control system works satisfactorily in the stabilization of mini quad-rotor helicopter in hovering, which is proved this onboard embedded control system is stable and highly reliable with low cost.