In the paper the quadrotor spatial motion adaptive control based on the passification method is considered. It is assumed that adaptive controller for quadrotor attitude is already designed and the attention is focused on the quadrotor spatial motion control. Problem of quadrotor group motion in the formation with adaptive positioning controller is studied in the details. This approach seems to be also high efficient for parameter variations, which may take place during long-range quadrotor flight. It is shown that after a certain transformation of quadrotor dynamics, the transfer function from auxiliary control inputs to quadrotor spatial coordinates posses the hyper-minimum-phase (HMP) property. In this case, the passification-based technique could be applied for adaptive controls design. The proposed technique allows to use decentralized cooperative control. Application of the proposed adaptive control is studied in the details by the intensive computer simulations.