# VTOL Airframes

PX4 supports virtually all VTOL configurations (the complete set of supported configurations can be seen in Airframes Reference > VTOL):

  • Tailsitters (duo and quadrotors in X and plus configuration)
  • Tiltrotors (Firefly Y6)
  • QuadPlane VTOL (standard plane plus quad)

The VTOL codebase is the same codebase as for all other airframes and just adds additional control logic, in particular for transitions.

This section contains build logs and instructions for assembling and configuring a number of VTOL vehicle frames.

# Videos

# Tailsitter

TBS Caipiroshka

# Tiltrotor

Convergence Tiltrotor

# QuadPlane VTOL

FunCub QuadPlane

Falcon Vertigo QuadPlane

Ranger QuadPlane