Unmanned aerial vehicles have a wide application due to their simple and easy operation, small dimensions, vertical takeoff and landing capability, hover flight and high maneuverability. The major disadvantage lies mainly in the limited range because the lift is guaranteed only by the continuous rotation of the propellers. This project proposes a digital PID controller for a quadrotor altitude control. Through simulations the performance of the controller was evaluated. Gains and parameters were adjusted to minimize power consumption of the powertrain and vertical trajectory error. An optimization was performed using a multi-objective evolutionary algorithm. As a result, the non-dominated sorting genetic algorithm II (NSGA-II) has converged to solutions that perform well in increasing flight autonomy and accuracy during the landing and vertical takeoff phase.