An aircraft comprising four rotors and a propulsion system for controlling propulsion of the aircraft, wherein the propulsion system comprises: a plurality of electric motors, including for each rotor of the four rotors, three electric motors coupled therewith, for driving the rotors; a propulsion motor control comprising: six propulsion control units, wherein each propulsion control unit is electrically coupled to a pair of electric motors of the plurality of electric motors, wherein one of the electric motors of the pair of electric motors is coupled with a first rotor and wherein the other of the electric motors of the pair of electric motors is coupled with a second rotor diagonally positioned relative to the first rotor, wherein each propulsion control unit is configured to actuate a respective pair of the electric motors, and at least one battery (134a-f) electrically connected with at least one of the propulsion control units of the propulsion motor control and at least one electric motor of the plurality of electric motors, wherein the at least one battery (134a-f) is configured to provide power to the at least one propulsion control unit and the at least one electric motor; and a flight control coupled with the propulsion control units, wherein the flight control is configured to transmit a desired torque level to the propulsion control units; wherein the propulsion motor control is configured to actuate the plurality of electric motors based on the desired torque level to drive each rotor to provide propulsion of the aircraft. a plurality of electric motors, including for each rotor of the four rotors, three electric motors coupled therewith, for driving the rotors; a propulsion motor control comprising: six propulsion control units, wherein each propulsion control unit is electrically coupled to a pair of electric motors of the plurality of electric motors, wherein one of the electric motors of the pair of electric motors is coupled with a first rotor and wherein the other of the electric motors of the pair of electric motors is coupled with a second rotor diagonally positioned relative to the first rotor, wherein each propulsion control unit is configured to actuate a respective pair of the electric motors, and at least one battery (134a-f) electrically connected with at least one of the propulsion control units of the propulsion motor control and at least one electric motor of the plurality of electric motors, wherein the at least one battery (134a-f) is configured to provide power to the at least one propulsion control unit and the at least one electric motor; and six propulsion control units, wherein each propulsion control unit is electrically coupled to a pair of electric motors of the plurality of electric motors, wherein one of the electric motors of the pair of electric motors is coupled with a first rotor and wherein the other of the electric motors of the pair of electric motors is coupled with a second rotor diagonally positioned relative to the first rotor, wherein each propulsion control unit is configured to actuate a respective pair of the electric motors, and at least one battery (134a-f) electrically connected with at least one of the propulsion control units of the propulsion motor control and at least one electric motor of the plurality of electric motors, wherein the at least one battery (134a-f) is configured to provide power to the at least one propulsion control unit and the at least one electric motor; and a flight control coupled with the propulsion control units, wherein the flight control is configured to transmit a desired torque level to the propulsion control units; wherein the propulsion motor control is configured to actuate the plurality of electric motors based on the desired torque level to drive each rotor to provide propulsion of the aircraft.