A method for operating a multicopter experiencing a failure during flight, the multicopter comprising, • a body; and • at least four effectors attached to the body, each operable to produce both a torque and a thrust force which can cause the multicopter to fly when not experiencing said failure, the method comprising the step of, • identifying a failure wherein the failure affects the torque and /or thrust force produced by an effector; in response to said identifying of said failure carrying out the following steps, (a) computing an estimate of the orientation of a primary axis of said body with respect to a predefined reference frame, wherein said primary axis is an axis about which said multicopter rotates when flying; (b) computing an estimate of the angular velocity of said multicopter; (c) controlling one or more of said at least four effectors based on said estimate of the orientation of the primary axis of said body with respect to said predefined reference frame and said estimate of the angular velocity of the multicopter, i. such that said one or more effectors collectively produce, a torque along said primary axis and a torque perpendicular to said primary axis, wherein A. the torque along said primary axis causes said multicopter to rotate about said primary axis, and B. the torque perpendicular to said primary axis causes said multicopter to move such that the orientation of said primary axis converges to a target orientation with respect to said predefined reference frame, ii. and such that each of said one or more effectors individually produces a thrust force along said primary axis. • a body; and • at least four effectors attached to the body, each operable to produce both a torque and a thrust force which can cause the multicopter to fly when not experiencing said failure, • identifying a failure wherein the failure affects the torque and /or thrust force produced by an effector; (a) computing an estimate of the orientation of a primary axis of said body with respect to a predefined reference frame, wherein said primary axis is an axis about which said multicopter rotates when flying; (b) computing an estimate of the angular velocity of said multicopter; (c) controlling one or more of said at least four effectors based on said estimate of the orientation of the primary axis of said body with respect to said predefined reference frame and said estimate of the angular velocity of the multicopter, i. such that said one or more effectors collectively produce, a torque along said primary axis and a torque perpendicular to said primary axis, wherein A. the torque along said primary axis causes said multicopter to rotate about said primary axis, and B. the torque perpendicular to said primary axis causes said multicopter to move such that the orientation of said primary axis converges to a target orientation with respect to said predefined reference frame, ii. and such that each of said one or more effectors individually produces a thrust force along said primary axis. i. such that said one or more effectors collectively produce, a torque along said primary axis and a torque perpendicular to said primary axis, wherein A. the torque along said primary axis causes said multicopter to rotate about said primary axis, and B. the torque perpendicular to said primary axis causes said multicopter to move such that the orientation of said primary axis converges to a target orientation with respect to said predefined reference frame, A. the torque along said primary axis causes said multicopter to rotate about said primary axis, and B. the torque perpendicular to said primary axis causes said multicopter to move such that the orientation of said primary axis converges to a target orientation with respect to said predefined reference frame, ii. and such that each of said one or more effectors individually produces a thrust force along said primary axis.