English: Ingenuity coaxial rotor assembly (drawing version before 2020).

See description of details and their functions in

Håvard Fjær Grip, Mars Helicopter Flight Control & Aerodynamics Lead (2019), NASA/JPL/Caltech — p. 14, http://fiso.spiritastro.net/telecon/Grip_3-20-19/Grip_3-20-19.pptx

J. (Bob) Balaram, Timothy Canham, Courtney Duncan, Matt Golombek, Håvard Fjær Grip et al. Mars Helicopter Technology Demonstrator, p. 10, Fig. 7 Rotor assembly, https://rotorcraft.arc.nasa.gov/Publications/files/Balaram_AIAA2018_0023.pdf

Each of two swashplates of NASA’s Ingenuity Mars Helicopter controls the pitch of the relevant rotor blades as they rotate and are critical to stable, controlled flight. Each swashplate is driven by three small servo motors.

The Ingenuity Mars Helicopter was built by JPL, which also manages the technology demonstration project for NASA Headquarters. It is supported by NASA’s Science, Aeronautics Research, and Space Technology mission directorates. NASA’s Ames Research Center in California’s Silicon Valley, and NASA’s Langley Research Center in Hampton, Virginia, provided significant flight performance analysis and technical assistance during Ingenuity’s development. AeroVironment Inc., Qualcomm, and SolAero also provided design assistance and major vehicle components. Lockheed Martin Space designed and manufactured the Mars Helicopter Delivery System.