A rotorcraft with an apparatus to control flight of the rotorcraft, the apparatus comprising: a thrust state determiner configured to: determine a first thrust margin between a first limit of first available power for first rotors of the rotorcraft and a first thrust state associated with the first rotors, the first available power based on a first power source of the rotorcraft, the first thrust state based on first measurements associated with the first rotors powered by the first power source; determine a second thrust margin between a second limit of second available power for second rotors of the rotorcraft and a second thrust state associated with the second rotors, the second available power based on a second power source of the rotorcraft, the second thrust state based on second measurements associated with the second rotors powered by the second power source; and identify the first thrust margin or the second thrust margin as a selected thrust margin based on a vertical control profile of the rotorcraft; and a command generator configured to: determine a first vertical control command based on the selected thrust margin and a second vertical control command, the second vertical control command being executed by the rotorcraft; and control the rotorcraft based on the first vertical control command. a thrust state determiner configured to: determine a first thrust margin between a first limit of first available power for first rotors of the rotorcraft and a first thrust state associated with the first rotors, the first available power based on a first power source of the rotorcraft, the first thrust state based on first measurements associated with the first rotors powered by the first power source; determine a second thrust margin between a second limit of second available power for second rotors of the rotorcraft and a second thrust state associated with the second rotors, the second available power based on a second power source of the rotorcraft, the second thrust state based on second measurements associated with the second rotors powered by the second power source; and identify the first thrust margin or the second thrust margin as a selected thrust margin based on a vertical control profile of the rotorcraft; and determine a first thrust margin between a first limit of first available power for first rotors of the rotorcraft and a first thrust state associated with the first rotors, the first available power based on a first power source of the rotorcraft, the first thrust state based on first measurements associated with the first rotors powered by the first power source; determine a second thrust margin between a second limit of second available power for second rotors of the rotorcraft and a second thrust state associated with the second rotors, the second available power based on a second power source of the rotorcraft, the second thrust state based on second measurements associated with the second rotors powered by the second power source; and identify the first thrust margin or the second thrust margin as a selected thrust margin based on a vertical control profile of the rotorcraft; and a command generator configured to: determine a first vertical control command based on the selected thrust margin and a second vertical control command, the second vertical control command being executed by the rotorcraft; and control the rotorcraft based on the first vertical control command. determine a first vertical control command based on the selected thrust margin and a second vertical control command, the second vertical control command being executed by the rotorcraft; and control the rotorcraft based on the first vertical control command. <EOS>