Three basic maneuvers are necessary to control the heliogyro: cyclic pitch, collective-cyclic pitch, and collective pitch.  The cyclic pitch maneuver produces a steady force in the plane of the heliogyro. The collective-cyclic pitch maneuver produces a steady rolling moment and spin torque.  The vertical components of pressure in two positions are equal, whereas the vertical component in the remaining two are unequal, creating a torque.   As the spin rate increases with this maneuver, both the collective and cyclic pitch angles must be reversed occasionally during the maneuver to stay near the desired spin rate and still maintain the same rolling moment.  The collective pitch maneuver produces spin torque and allows the component of force normal to the heliogyro plane to be reduced.
CYCLIC PITCH
USED FOR IN-PLANE THRUST MANEUVERS
COLLECTIVE PITCH
USED FOR SPIN RATE CHANGES
CYCLIC/COLLECTIVE PITCH
USED FOR PRECESSION
Drawings from MacNeal, R. H., "The Heliogyro, An Interplanetary Flying  Machine", NASA Contractor's Report CR 84460, June 1967.