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 . <EOS>