Abstract: A multi horizontal rotor drone having a propulsion unit coupled to a payload housing by a multi-axial gimbal assembly. The centers of mass of each of these three components resides at a common point that also coincides with the pitch and roll axes (and optionally the yaw axis) of the gimbal assembly's rotational orientations. The propulsion unit has the minimal operational mass necessary while the majority of the drone's mass is located onto the payload housing. With this arrangement, the payload housing can be stabilized on its center of gravity independent of the roll, pitch and yaw changes undergoing by the propulsion unit, during the drone's flight.