Aiming at the problems of strong nonlinearity, uncertainty and multi-mode of certain type compound wing UAV, the full envelope flight control is studied from the aspects of uncertainty compensation nonlinear control method, tracking differentiator acceleration measurement and direct switching method. Based on the angular acceleration compensation method, an incremental backstepping control (IBKS) method based on a new differentiator tracker is proposed to deal with the aerodynamic parameter uncertainties. In order to solve the problem of multi-mode characteristics, a direct switching method based on strategy is designed, and the full envelope attitude control of compound wing UAV is realized by switching the controller parameters. The controller parameters in different modes are selected through the simulation of different modes, and the take-off process is simulated with the selected parameters. The results show that the proposed attitude control method improves 66. 8% of the pitch angle control accuracy compared with the backstepping method, eliminates the attack angle buffeting and improves the flight quality of the sample compound wing UAV with 30% parameter perturbation.