[Paparazzi-devel] VTOL airplane question

[Chris]

Now that i think that i understood what a quadshot is doing (in code) i 
came to the conclusion that i don't like this approach.

What i would like to do is to build an airplane that can ascend and 
descent vertically and not a multicopter that can fly at 90 degrees.

Now my question is this, does the paparazzi autopilot code for fixed 
wings have a problem with commands like the ones below provided that i 
can also change the elevons behavior just like in the quadshot airframe 
file depending in what attitude i am in?

Is the roll axis maintained when the airplane climbs vertically or it 
switches with YAW?

when using two motors YAW can be controlled with motor thrust when 
flying level.

    <block name="Takeoff" strip_button="Takeoff (wp AF_NORTH)" 
strip_icon="takeoff.png">
      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
      <set value="TRUE" var="autopilot.launch"/>
      <set value="0" var="h_ctl_disabled"/>
      <set value="0" var="autopilot.kill_throttle"/>
      <attitude pitch="90" roll="0.0" throttle="1.0" until="GetPosAlt() 
> GetAltRef()+20" vmode="throttle"/>
      <deroute block="Standby"/>
    </block>

and

<go alt="(ground_alt)" approaching_time="0" climb="-0.5" from="TD" 
hmode="route" pitch="90" throttle="auto" vmode="climb" wp="TD"/>


Chris