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What ArduPlane firmware does VTOL? Rotors with 2 degrees of freedom?

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@Jake_Fitzpatrick wrote:

I’m doing a project, and we need a fixed wing drone that has vertical take off and landing capabilities. We are also trying to make the rotors on a gimbal, giving it 2 degrees of freedom. If you know of any firmware or other material that could be helpful for those requirements, it would be greatly appreciated!!! Thanks!

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