Distributed Stream Processing (DSP) systems are capable of processing large streams of unbounded data, offering high throughput and low latencies. To maintain a stable Quality of Service (QoS), these systems require a sufficient allocation of resources. At the same time, over-provisioning can result in wasted energy and high operating costs. Therefore, to maximize resource utilization, autoscaling methods have been proposed that aim to efficiently match the resource allocation with the incoming workload. However, determining when and by how much to scale remains a significant challenge. Given the long-running nature of DSP jobs, scaling actions need to be executed at runtime, and to maintain a good QoS, they should be both accurate and infrequent. To address the challenges of autoscaling, the concept of self-adaptive systems is particularly fitting. These systems monitor themselves and their environment, adapting to changes with minimal need for expert involvement. This paper introduces Daedalus, a self-adaptive manager for autoscaling in DSP systems, which draws on the principles of self-adaption to address the challenge of efficient autoscaling. Daedalus monitors a running DSP job and builds performance models, aiming to predict the maximum processing capacity at different scale-outs. When combined with time series forecasting to predict future workloads, Daedalus proactively scales DSP jobs, optimizing for maximum throughput and minimizing both latencies and resource usage. We conducted experiments using Apache Flink and Kafka Streams to evaluate the performance of Daedalus against two state-of-the-art approaches. Daedalus was able to achieve comparable latencies while reducing resource usage by up to 71%.