Here's my latest adventure, a dRonin controlled SLT (Separate Lift Thrust) VTOL. I did a very ugly integration of the OpenAeroVtol mixer into dRonin. OpenAeroVtol is a firmware for the KK2 board. The KK2 has some limitations I was not too fond of, I don't have any KK2 boards, but plenty of dRonin compatible boards so I built a firmware load for my Quanton hardware.
The OpenAeroVtol mixer allows 2 separate flight profiles, one for hover mode, and one for forward flight mode, with the ability to smoothly transition between them. With an SLT vehicle, the forward flight mode does very little in the way of stabilization. In fact, in a future test, I plan to use the dRonin quad mixer, and what little transition mixing I need for the SLT vehicle will be done in my Taranis. Bet an autotune in the quad mode would be exciting, to say the least.....
I've flown it one flight so far, tested the hover mode and 20% transition toward forward flight. Seem to fly well, but need to play with the gains some. (Autotune won't work with the transitional mixer flight modes, remember, it's an ugly integration!). I used the baseline KK2 setup, which runs at 700 Hz, so my 1 kHz loop time may require some changes. Yaw was weak, so I will definitely up the authority there. Next time out, I'll try transitioning to full forward flight and back.
For information on the original project, search for Vtol Explorer. The original authors did a great job of making vtol technology available to general modelers.
I should add I have no intention of doing a PR for this, it's too much of hack at the moment, and only takes advantage of a few features of dRonin that I absolutely needed to fly this safely.