This paper presents a cascade control strategy for attitude tracking in unmanned aerial vehicles (UAVs), addressing external actuator disturbances. UAVs have become increasingly relevant in various fields, necessitating precise control strategies for enhanced performance. The study focuses on a quadcopter model and employs a PID-P cascade controller, incorporating an additional loop to account for battery dynamics and disturbances in the electronic speed controllers (ESC) and brushless DC motors (BLDC). The proposed control strategy aims to improve trajectory tracking, disturbance rejection, and robustness. The research includes the development of a specialized test platform that allows for safe and accurate implementation and telemetry of the control algorithms. The results demonstrate the efficacy of the cascade control with an auxiliary loop in achieving desired angular positions and velocities, highlighting significant performance improvements compared to traditional control methods.