Transformable hovering rotorcraft

An aircraft comprising:

• a fuselage defining a body frame with longitudinal, lateral and height axes extending perpendicular to each other and intersecting in a center of gravity of the aircraft;
• a pair of wings rotatably coupled, at wing roots, to opposing lateral sides of the fuselage, the pair of wings being rotatable relative to each other about a rotational axis which is at least substantially parallel to the lateral axis, and each wing having an airfoil with a leading edge and a chord;
• a pair of servo motors, each of which connected to a corresponding wing and configured to rotate the corresponding wing about its rotational axis in two rotational directions;
• a pair of thrust motors, each of which mounted on a corresponding wing and configured to provide a thrust in a leading direction of the airfoil of the corresponding wing;
• and
• a flight controller connected to the pair of servo motors and to the pair of thrust motors, and configured to control each servo motor and each thrust motor, wherein each servo motor is able to rotate the corresponding wing about the rotational axis within such a rotational range that the aircraft can be selectively operated in a cruising mode, in which the pair of thrust motors provide thrust in a common direction so that the pair of wings are in a non-permanent-rotation-state about a yawing axis which is at least substantially perpendicular to the lateral axis and which extends at least substantially through the center of gravity, and a monocopter mode, in which the pair of thrust motors provide thrust in opposite directions so that the pair of wings are in a permanent-rotation-state about the yawing axis,
• the aircraft has a tailless configuration, and
• the flight controller is configured to perform active control of each servo motor and each thrust motor based on determining control parameters respectively for each servo motor and each thrust motor for at least controlling pitch and yaw of the aircraft for compensating for pitch and yaw instability due to the tailless configuration.