controller 25 comprises a computer based controller 38 at least one three axis accelerometer 40 at least one three axis rate gyroscope 42 an onboard wireless interface 44 adapted to communicate with the rotor assembly wireless interfaces 24 and an onboard transceiver 46 and antenna 48 adapted to wirelessly communicate with a remote flight control module 50 fig1 described more fully below the computer based controller 38 comprises a high speed cpu not illustrated such as the p501 from general microsystems programmed to translate flight commands received from the remote flight control module 50 into commands to adjust rotor speed and blade pitch such that the rotor blades generate the lift rotational and directional forces necessary for rotorcraft 1 to execute flight commands the onboard controller 25 and rotor drive system 14 are powered by a main battery pack 52 preferably comprising rechargeable lithium polymer batteries of the type that are well known to those of ordinary skill in the art the computer based controller 38 is electrically connected to three axis accelerometer 40 and three axis rate gyroscope 42 both of which may preferably be powered by main battery pack 52 and both of which provide real time data indicating angular rates and acceleration to the cpu of the computer based controller 38 and enabling computation of orientation and velocity computer based controller 38 also receives flight commands from remote flight control module 50 via another rf link as is discussed in more detail below the rf link to remote flight control module 50 is bi directional thereby allowing computer based controller 38 to communicate flight and.