A hover-control method for multirotor unmanned aerial vehicle (UAV) upcast at any angle to take off is applied to correct at least one tilt angle of the multirotor UAV by dual-feedback schemes. When any of the at least one tilt angle is greater than a corresponding angle limitation, an open feedback scheme is executed to drive a plurality of motors of the multirotor UAV until a predetermined condition is achieved. When all of the at least one tilt angle are not larger than the respective angle limitations, a negative feedback scheme is executed to drive the motors of the multirotor UAV until a hover condition is achieved.