Vertical takeoff and landing aerial vehicle

An aerial vehicle comprising:

• a toroidal fuselage having a longitudinal axis, and a duct extending along the longitudinal axis;
• a hollow propeller shaft coaxially extending along the axis and within the duct;
• first and second rotor assemblies coaxially mounted on the propeller shaft within the duct, wherein each rotor assembly includes,
• a hub mounted on the propeller shaft for rotation about the axis,
• at least two propeller blades extending radially outwardly from the hub, wherein each propeller includes an axis extending substantially normal with respect to the axis of the duct, and the propeller blades are rotatably about the propeller axes,
• a coupling assembly received on the propeller shaft and movable with respect to the propeller shaft parallel with the axis of the fuselage,
• linkages pivotally connected between the coupling assembly and the propeller blades so that movement of the coupling assembly on the propeller shaft causes rotation of the propeller blades about the propeller axes, and
• a rod received within the hollow propeller shaft, movable with respect to the propeller shaft parallel with the axis of the duct, and connected to the coupling assemblies so that movement of the rod within the propeller shaft causes movement of the coupling assembly on the propeller shaft.