Decoupled hand controls for aircraft with vertical takeoff and landing and forward flight capabilities

A system, comprising:

• a flight controller that:
• receives a forward velocity and a roll angle associated with an aircraft, wherein the aircraft includes a multicopter with a plurality of rotors which rotate in a substantially horizontal plane;
• determines a yaw rate offset based at least in part on the forward velocity and the roll angle, wherein the yaw rate offset increases over a first forward velocity range and decreases over a second forward velocity range and the yaw rate offset changes monotonically with the roll angle;
• determines a desired yaw rate based at least in part on the yaw rate offset and a yaw rate specified via a hand control;
• and
• determines a plurality of control signals for the plurality of rotors based at least in part on the desired yaw rate;
• and
• the plurality of rotors that are controlled using the plurality of control signals.