INAV is one of the few open-source firmware projects that supports VTOL (Vertical Take-Off and Landing) aircraft. VTOL combines the hover capability of a multirotor with the efficiency and range of a fixed-wing airplane.
VTOL Types Supported by INAV
- Tilt-Rotor — motors tilt from vertical (hover) to horizontal (cruise)
- Quad-Plane — separate motors for hover and cruise
- Tail-Sitter — entire aircraft rotates between vertical and horizontal
Transition Modes
The key feature of VTOL is transition — switching between multirotor and fixed-wing flight:
- MC → FW transition — gain speed, tilt motors forward, switch to wing-borne flight
- FW → MC transition — slow down, tilt motors up, hover
- INAV manages the transition automatically — you just flip a switch
Hardware Requirements
- Flight Controller: H7 recommended (Matek H743-Wing)
- Tilt servos: High-quality digital servos for motor tilting
- GPS + Compass: Essential for navigation in both modes
- Airspeed sensor: Recommended for safe transitions
Configuration
set platform_type = AIRPLANE
set vtol_mixer_type = TILTROTOR
# Transition settings
set fw_min_throttle_down_pitch = 0
set nav_fw_launch_detection = OFF
set nav_mc_vel_xy_max = 500Safety Tips
- Test hover mode thoroughly before attempting transition
- Start transitions at safe altitude (50m+)
- Have RTH configured for both MC and FW modes
- Practice in a simulator first if available