Independent control for upper and lower rotor of a rotary wing aircraft

An aircraft comprising:

• an airframe;
• an extending tail;
• a counter rotating, coaxial main rotor assembly including an upper rotor assembly and a lower rotor assembly;
• a translational thrust system positioned at the extending tail, the translational thrust system providing translational thrust to the airframe;
• at least one flight control computer is configured to independently control the upper rotor assembly and the lower rotor assembly through a fly-by-wire control system;
• and
• a plurality of sensors to detect sensor data of at least one environmental condition and at least one aircraft state data;
• wherein the sensors provide the sensor data to the flight control computer which imparts control commands to establish control limits for at least one of a collective control, a lateral cyclic control, and a longitudinal cyclic control for each of the upper rotor assembly and the lower rotor assembly based on the at least one environmental condition and the at least one aircraft state data included in the sensor data, the control limits being defined as at least one of a ganged limit and a differential limit, the ganged limit being defined as a limit on an average of a pitch value of the upper rotor assembly control and a pitch value of the lower rotor assembly control, and the differential limit being defined as a limit on a difference between the pitch value of the upper rotor assembly control and the pitch value of the lower rotor assembly control divided in half.