Operating multirotor aircraft with enhanced yaw control

A method of operating a multirotor aircraft, comprising:

• generating a first differential thrust between a first motor and a second motor, the first motor coupled to a first end of a first motor arm and the second motor coupled to a second end of the first motor arm, the first motor arm coupled to a front frame of the multirotor aircraft;
• generating a second differential thrust between a third motor and a fourth motor, the third motor coupled to a first end of a second motor arm and the fourth motor coupled to a second end of the second motor arm, the second motor arm coupled to a rear frame of the multirotor aircraft, the front frame coupled to the rear frame via an adjustable member, and the front frame, the adjustable member, and the rear frame extending along an axis;
• generating a first rotation of the front frame in a first direction about the axis in response to the first differential thrust;
• and
• generating a second rotation of the rear frame in a second direction about the axis in response to the second differential thrust;
• wherein the axis is transverse to axes of rotation of the first, second, third, and fourth motors.