This disclosure provides a means to implement an autonomous guidance and flight control system on a partial authority aircraft. One embodiment of the disclosure includes receiving a control command result, filtering the control command result into a low frequency component and a high frequency component, directing the low frequency component to at least one trim servomechanism and directing the high frequency component to at least one stability augmentation stabilizer servomechanism, linking outputs from the trim servomechanism and the stability augmentation stabilizer servomechanism for actuating a pilot control configured to control rotors, and actuating at least one rotor. The low frequency component includes frequencies below a break frequency and the high frequency component includes frequencies above the break frequency. The break frequency is established by rate and position of the at least one servomechanism.