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For the automatic control of the traditional unmanned autogyro, a combination of one-degree-of-freedom PID and optimization algorithm is used, because the onedegreeoffreedom PID cannot solve the problem of fast response and interference suppression at the same time due to the response lag characteristics of autogyro. A two-degree-of-freedom PID controller based on the particle swarm algorithm and the simulated annealing algorithm is proposed, and a noise reduction method of feedforward controller is designed to achieve effective control of unmanned autogyro. The feasibility is verified by building a Matlab simulation model. The simulation results show that the response speed of the algorithm in this study is faster than that of the traditional one-degree-of-freedom PID control. The feedforward controller, with strong robustness and system response can effectively suppress external disturbances. As the result, the speed is fast and the response time is increased by about 11%. The control system is more stable with higher response accuracy and slighter convergence error value. The possibility of error is about 1/6 lower than the traditional PID. At the same time, the actual flight experiments in two different flight environments verified the feasibility of the two-degree-of-freedom PID controller based on PSO-SA, which can provide a theoretical basis for the application of unmanned autogyro in the field of agricultural aviation.