Cross medium fixed wing unmanned aerial vehicles have a wide range of application scenarios, but their cross medium characteristics pose great challenges and difficulties in research and design, with surface takeoff and attitude control being one of the key factors. A takeoff and attitude control system based on cascade fuzzy proportional integration differentiation (PID) was proposed. System models of control components such as flaps, tail fins, and hydrofoils were established based on various attitude angle data. Simulink simulation platform was used to design and simulate controllers for different components, and compared with traditional PID controllers. The experiment shows that cascade fuzzy PID can correct UAV attitude quickly, stably and reliably, and the flight experiment analysis also proves the effectiveness of cascade fuzzy PID controller model.