Kinda curious those "pointy counterweights?" near the hub of the rotors, why are those there? Looks like they'd run into each other? It looks like it has full collective/cyclic on both levels.
Not sure about the counter-weights, but without a tail rotor, I'm pretty sure it requires either a collective on both levels, or else software to navigate properly when the body is spinning, and some mechanism to allow it to safely land while the body is spinning.
The torque to spin the rotor changes with the blade angle, so to keep the counter-rotating torques balanced, they need to control blade pitch on both. I suppose the blade drag is a non-linear function of blade angle, so technically they might be able to keep the torques balanced with cyclics on both and a collective only on one, but it's certainly much more simple to have at least collectives on both.
Oh, I'm pretty sure you want them spinning at the same speed so their angular momenta cancel out, in case a wind gust puts a torque around a horizontal axis on the system... cross product of angular momentum with applied torque...
