In this research, a proportional plus integral plus velocity (PIV) fuzzy gain scheduling flight controller for an octorotor mini-unmanned aerial vehicle is developed. The designed flight controller scheme, with a PIV term, is combined with a fuzzy gain scheduling approach. The tracking controller PIV fuzzy gain scheduling is based on two controllers connected in cascade with a saturation approach. The Newton–Euler equations of motion are applied to obtain a mathematical model for the octorotor mini-unmanned aerial vehicle (mini-UAV). The flight controller approach is applied to obtain coupling moments and forces with interconnected attitude and navigation tracking trajectory. In the design of a flight navigation controller with two layers, the inner layer consists of a PIV fuzzy gain scheduling controller that is applied to the attitude dynamics, obtaining the references for the coupling outer layer PIV fuzzy gain scheduling controller, which manipulates the translational dynamics. The navigation PIV fuzzy gain scheduling controller is saturated for bounding in translational forces to avoid large deviations of commands to Euler angles pitch and roll, and another saturated controller is implemented for the bounded thrust rotor to avoid the excessive angular speed of these rotors. The octorotor mini-UAV flight navigation simulation is performed to validate the tracking control of a sequence of motions in each axis, which is presented as a validation for the proposed control scheme.