Unmanned aerial systems having out of phase gimballing axes

A rotorcraft comprising:

• an elongated fuselage having forward and aft ends and first and second rotational degrees of freedom, the fuselage having a substantially vertical orientation in a vertical takeoff and landing flight mode and a substantially horizontal orientation in a forward flight mode;
• a forward propulsion assembly disposed at the forward end of the fuselage, the forward propulsion assembly including a forward rotor hub assembly rotatably coupled to the fuselage and reversibly tiltable about a first gimballing axis to provide a first moment on the fuselage in the first rotational degree of freedom;
• and
• an aft propulsion assembly disposed at the aft end of the fuselage, the aft propulsion assembly including an aft rotor hub assembly rotatably coupled to the fuselage and reversibly tiltable about a second gimballing axis to provide a second moment on the fuselage in the second rotational degree of freedom;
• wherein, the first gimballing axis is orthogonal to the second gimballing axis to control an orientation of the fuselage in the first and second rotational degrees of freedom;
• wherein, in the vertical takeoff and landing flight mode, the first rotational degree of freedom is one of a pitch or a roll rotational degree of freedom and the second rotational degree of freedom is the other of the pitch or the roll rotational degree of freedom;
• and
• wherein, in the forward flight mode, the first rotational degree of freedom is one of the pitch or a yaw rotational degree of freedom and the second rotational degree of freedom is the other of the pitch or the yaw rotational degree of freedom.