A rotorcraft (1, 200, 300, 400, 500) comprising: a frame having a roll axis and a pitch axis, the pitch axis being perpendicular to the roll axis; a plurality of rotors (10, 20, 30, 40) connected to the frame, each of the plurality of rotors (10, 20, 30, 40) including a rotor shaft (13, 23, 33, 43), the rotor shaft (13, 23, 33, 43) being canted with respect to at least one of the roll axis and the pitch axis; and at least two additional rotors (50, 60), each including a rotor shaft (53, 63) canted with respect to the pitch axis, wherein the rotor shafts of the at least two additional rotors are positively canted at the same angle in a plane normal to the pitch axis, wherein the plurality of rotors (10, 20, 30, 40) is at least four rotors including a first rotor, a second rotor, a third rotor, and a fourth rotor, wherein each of the first rotor, the second rotor, the third rotor and the fourth rotor includes an upper rotor (11, 21, 31, 41) and a lower rotor (12, 22, 32, 42), wherein the upper rotor (11, 21, 31, 41) and the lower rotor (12, 22, 32, 42) of each of the plurality of rotors (10, 20, 30, 40) is co-axial and co-rotating, wherein the rotor shafts (13, 23, 33, 43) of the plurality of rotors (10, 20, 30, 40) are canted at the same angle in a plane normal to the roll axis which causes the respective upper rotors to move closer to said roll axis; wherein the first rotor and the third rotor are operable for counter-clockwise rotation, and the second rotor and the fourth rotor are operable for clockwise rotation, and wherein each of the at least two additional rotors (50, 60) is a co-axial contra-rotating rotor (51, 52; 61, 62). a frame having a roll axis and a pitch axis, the pitch axis being perpendicular to the roll axis; a plurality of rotors (10, 20, 30, 40) connected to the frame, each of the plurality of rotors (10, 20, 30, 40) including a rotor shaft (13, 23, 33, 43), the rotor shaft (13, 23, 33, 43) being canted with respect to at least one of the roll axis and the pitch axis; and at least two additional rotors (50, 60), each including a rotor shaft (53, 63) canted with respect to the pitch axis, wherein the rotor shafts of the at least two additional rotors are positively canted at the same angle in a plane normal to the pitch axis, wherein the plurality of rotors (10, 20, 30, 40) is at least four rotors including a first rotor, a second rotor, a third rotor, and a fourth rotor, wherein each of the first rotor, the second rotor, the third rotor and the fourth rotor includes an upper rotor (11, 21, 31, 41) and a lower rotor (12, 22, 32, 42), wherein the upper rotor (11, 21, 31, 41) and the lower rotor (12, 22, 32, 42) of each of the plurality of rotors (10, 20, 30, 40) is co-axial and co-rotating, wherein the rotor shafts (13, 23, 33, 43) of the plurality of rotors (10, 20, 30, 40) are canted at the same angle in a plane normal to the roll axis which causes the respective upper rotors to move closer to said roll axis; wherein the first rotor and the third rotor are operable for counter-clockwise rotation, and the second rotor and the fourth rotor are operable for clockwise rotation, and wherein each of the at least two additional rotors (50, 60) is a co-axial contra-rotating rotor (51, 52; 61, 62).