The Rotormast Osprey model has collective and fore/aft cyclic on each rotor. In hover (ie nacelles pointed up), you have collective to control altitude, fore/aft to control fore/aft, differential fore/aft controls yaw and differential collective to control roll.
In forward flight (ie nacelles forward), differential collective controls yaw, differential fore/aft controls roll, fore/aft controls pitch, collective controls speed.
Adjusting the nacelle angle linearly mixes between the two. I've got all the mixing worked out.
At this stage, I would be overjoyed just to be able to hover in rate control manual mode and then eventually GPS position hold. Trying to get to that point has been more of an ordeal than I thought it should have been so any help is appreciated!