This article presents a virtual swashplate mechanism for a mini helicopter in classic configuration. The propeller bases are part of a passive mechanism driven by main rotor torque modulaton, this mechanism generates a synchronous and opposite change in the propellers angle of attack, then the thrust vector tilts. This approach proposes to control the 6 degrees of freedom of the aircraft using two rotors. The main rotor controls vertical displacement and uses torque modulation and swing-hinged propellers to generate pitch and roll moments and the horizontal displacement while the yaw moment is controlled by the tail rotor. The dynamic model is obtained using the Newton-Euler approach and robust control algorithms are proposed. Experimental results are presented to show the performance of the proposed virtual swashplate in real-time outdoor hover flights.