A method for dynamic control of attitude of a rotary-wing drone with multiple rotors driven by respective motors controlled in a differentiated manner, for the automatic execution of a pre-programmed manoeuvre of the spin type, respectively of the flip type, by rotation of the drone over a full turn about an axis of rotation consisted by the roll axis, respectively the pitch axis, of the drone, said method comprising the execution, upon receipt of an instruction for triggering the pre-programmed manoeuvre, of a sequence of steps of: a) simultaneous control of the motors so as to impart to the drone a preliminary impulse of upward vertical thrust (V z) (PHASE 1); and b) control of the motors so as to produce a rotation of the drone about the axis of rotation, from an initial angular position to a final angular position with a zero angular speed, this step comprising a phase of open-loop control of the motors, step b) comprising the successive sub-steps of: b1) differentiated control of the motors, not slaved, so as to produce a rotation of the drone about the axis of rotation, from an initial angular position to a predetermined intermediate angular position (PHASE 2); then b2) differentiated control of the motors, slaved to a reference target-trajectory, defined in terms of angular speed and/or angle, so as to complete the rotation of the drone over a full turn about the axis of rotation from the intermediate angular position with a non-zero angular speed, to a final angular position with a zero angular speed (PHASE 3), said method being characterized in that step b2) comprises the sub-steps of: b21) allotting a value of down time between the intermediate angular position and the final angular position; b22) measuring the angular speed of the drone when the latter reaches the predetermined intermediate angular position; b23) based on the down time allotted at step b21) and on the measurement acquired at step b22), parameterizing a predetermined predictive function modelling an optimum continuous variation of the angular position of the drone as a function of time, from the intermediate angular position to the final angular position at the end of the allotted time; and b24) based on the predictive function parameterized at step b23), generating set-point values corresponding to a pre-calculated target angular position at a given instant, and applying these set-point values to a control loop for controlling the motors of the drone. a) simultaneous control of the motors so as to impart to the drone a preliminary impulse of upward vertical thrust (V z) (PHASE 1); and b) control of the motors so as to produce a rotation of the drone about the axis of rotation, from an initial angular position to a final angular position with a zero angular speed, this step comprising a phase of open-loop control of the motors, step b) comprising the successive sub-steps of: b1) differentiated control of the motors, not slaved, so as to produce a rotation of the drone about the axis of rotation, from an initial angular position to a predetermined intermediate angular position (PHASE 2); then b2) differentiated control of the motors, slaved to a reference target-trajectory, defined in terms of angular speed and/or angle, so as to complete the rotation of the drone over a full turn about the axis of rotation from the intermediate angular position with a non-zero angular speed, to a final angular position with a zero angular speed (PHASE 3), b1) differentiated control of the motors, not slaved, so as to produce a rotation of the drone about the axis of rotation, from an initial angular position to a predetermined intermediate angular position (PHASE 2); then b2) differentiated control of the motors, slaved to a reference target-trajectory, defined in terms of angular speed and/or angle, so as to complete the rotation of the drone over a full turn about the axis of rotation from the intermediate angular position with a non-zero angular speed, to a final angular position with a zero angular speed (PHASE 3), b21) allotting a value of down time between the intermediate angular position and the final angular position; b22) measuring the angular speed of the drone when the latter reaches the predetermined intermediate angular position; b23) based on the down time allotted at step b21) and on the measurement acquired at step b22), parameterizing a predetermined predictive function modelling an optimum continuous variation of the angular position of the drone as a function of time, from the intermediate angular position to the final angular position at the end of the allotted time; and b24) based on the predictive function parameterized at step b23), generating set-point values corresponding to a pre-calculated target angular position at a given instant, and applying these set-point values to a control loop for controlling the motors of the drone.