I have read through the development guide, but it is still not clear, how VTOL works. I could already make 2 mixer files. One for the quadcopter mode, and one for the airplane mode. The airframe files in the init.d directory are not so clear for me, and the guide was not too detailed.
How to continue? Can somebody explain, or give me a link to a document?
I have used KK2.1 controller in the past. There the concept was: I could make 2 parameter sets (1st for the quadcopter, 2nd for the airplane). I had to set in percentage, where is the transition mode in between. E.g. :
I could select the mode with a 3 position switch from the RC (so just manual transition, no speed control). The controller mixed the parameters from the 2 parameter sets according the percentage, what I have set in transition mode.