LEGO MINDSTORMS Robot Inventor
When I was a kid there was a great helicopter toy called VertiBird that lifted off and flew in a circle around a base like this. That toy lifted with real propeller thrust and also tilted forwards and backwards to generate circling thrust, all with a single motor. This model was inspired by this, but it fakes the lift and thrust with additional motors and computer control...
Fly with the remote control program and try the hook and payload challenge, or try the two autonomous programs, one of which does a hook and payload challenge all by itself.