Abstract: A vertical takeoff and landing aircraft includes an airframe with a wing having an airfoil, the airfoil having an airfoil chord line and the wing having a wingspan. The aircraft further includes at least one forward thrust rotor having a horizontal thrust offset angle defined between the airfoil chord line and an axis of rotation of the forward thrust rotor. The aircraft further includes a plurality of vertical thrust rotors, each of the plurality of vertical thrust rotors having a vertical thrust offset angle defined between the airfoil chord line and a plane of rotation of the vertical thrust rotor. The vertical thrust offset angle is between 3 degrees and 10 degrees. The axis of rotation of the forward thrust rotor and planes of rotation of the plurality of vertical thrust rotors define a plurality of relative thrust angles that are each less than the horizontal thrust offset angle.

Abstract: An aircraft control system includes a vertical thrust system, a horizontal thrust system, and an aerodynamic system. The system further includes a controller in at least indirect communication with the vertical thrust system, the horizontal thrust system, and the aerodynamic system. The controller is configured to substantially simultaneously control, based on at least one of a single yaw input, a single pitch input, and a single roll input, the aerodynamic system and a differential thrust generated by the plurality of vertical thrust rotors of the vertical thrust system to adjust at least one of pitch, yaw, and roll of a vertical takeoff and landing aircraft in at least one of a plurality of flight stages. The controller is further configured to independently and substantially simultaneously control the vertical and horizontal thrust systems to generate vertical and horizontal thrust in at least one of the plurality of flight stages.