In order to improve the decoupling and unknown disturbance rejection ability of helicopter during maneuvering flight, a slalom maneuver controller for helicopter was designed based on the compound control structure of fuzzy and active disturbance rejection. The relationship of state variables and control logic in the process of helicopter slalom maneuver required by ADS-33E-PRF are analyzed.In the angular velocity loop, an extended state observer is designed to observe and compensate the unknown disturbance, and in the attitude loop, fuzzy rules are introduced to optimize the control law parameters online according to the error and its change rate. According to the flight environment without wind disturbance and with wind disturbance, the algorithm design and simulation verification of slalom maneuver are carried out. The results show that the upper and lower boundaries of the helicopter flight trajectory are controlled within 15. 24 ~ 30.48 m in the 2 flight environments, and the satisfactory quality index defined in the standard is achieved, which verifies that the adopted control strategy can effectively estimate the external disturbance in the process of maneuvering flight and improve the anti-interference ability of the control system.