Self-piloted aircraft for passenger or cargo transportation

A method for controlling a vertical takeoff and landing (VTOL) aircraft, comprising:

• blowing air over a first forward wing of the VTOL aircraft with a first electrically-powered propeller coupled to the first forward wing during forward flight and vertical flight of the VTOL aircraft;
• blowing air over a second forward wing of the VTOL aircraft with a second electrically-powered propeller coupled to the second forward wing during forward flight and vertical flight of the VTOL aircraft;
• blowing air over a first rear wing of the VTOL aircraft with a third electrically-powered propeller coupled to the first rear wing during forward flight and vertical flight of the VTOL aircraft;
• blowing air over a second rear wing of the VTOL aircraft with a fourth electrically-powered propeller coupled to the second rear wing during forward flight and vertical flight of the VTOL aircraft, wherein the first rear wing and the first forward wing are coupled to a fuselage of the VTOL aircraft and are positioned on first side of a fuselage, and wherein the second rear wing and the second forward wing are coupled to the fuselage and are positioned on a second side of the fuselage opposite to the first side;
• providing thrust to the VTOL with a fifth electrically-powered propeller during forward flight and vertical flight of the VTOL aircraft;
• sensing parameters indicative of an attitude, altitude, and airspeed of the VTOL aircraft with a plurality of flight sensors;
• and
• controlling the aircraft with a controller based on the sensed parameters, wherein the controlling comprises rotating each of the propellers from a position for forward flight to a position for vertical flight.