Originally Posted by Petefoss
Do you have a hover and a flight setup or it it always in the same config?
I have the four motors setup as a standard quad but with the yaw and roll control swapped. Yaw is now the same as airplane yaw and roll is the same too. I plugged the two feet into channels 5 and 6 and use mixing to control them as traditional elevons; roll and pitch. I went through many approaches and my mind seems to handle this the best. I try to think of it as an airplane in all flight modes.