A gyroplane employing torque compensated main rotor and hybrid power train is disclosed. The invention incorporates a torque-compensated main rotor system with a common Collective pitch control, which can be driven transiently during flight to allow Vertical Take-Off, Landing and Hovering (VTOLH) flight operations. Torque compensation is via a coaxial counter-rotating (CACR) rotor system, or alternatively using a single rotor in conjunction with one or more electronically-controlled, fixed-pitch, thruster motors. The use of electric motors for lift and torque compensation facilitates electronic and potentially autonomous control of all phases of vertical flight.