With an increasing focus on both performance and efficiency, UAV control systems have made great progress. In this work, we extend a previous LPV-MPC technique by including a more simplified control system for UAVs. The proposed control method removes the requirement for a velocity controller by concentrating on improving MPC performance using Particle Swarm Optimization (PSO) of the weight matrices. This system uses PSO to balance control effort with trajectory ac-curacy and simplifies the control architecture, hence improving UAV control efficiency. It is especially appropriate for situations where simplicity and energy economy are absolutely important.