Recommended stable firmware for VTOL Quad plane


I am building my first VTOL quad plane. Since I am short on budget and can’t afford a crash, can someone please suggest a stable firmware version which they have been using?


Cheapest is to get a lot of experience first with simulation (e.g. SITL), and then you want to do as much testing as possible on ground without props to make sure things like RC failsafe etc. are working. And I’d suggest to start with a cheap/small model first before moving up or building your own custom thing.

And for the version, I can recommend latest stable v1.9.2.