This paper proposes an algorithm for a vision-based line tracking for an indoor micro quadrotor. An onboard vision camera is used to detect the line information. Afterwards, captured images are sent to a ground control station (GCS) via wireless connection thus to process the image in real-time. In order to design the PID controller, this sent information is used in feedback of the control loop. GCS calculates present yaw measurement and distance between line path and quadrotor, and this information is sent to a quadrotor onboard controller. Afterwards, yaw angle is stabilized by the PID controller and distance is minimized by the fuzzy-like controller which is proposed in this paper. Finally, experimental results validate the effectiveness of the proposed method.