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Nice. I bought the original Crazyflie a very long time ago, when tiny quadcopters were not really a thing yet.

I've been meaning to take another look at projects like Ardupilot to try out my own ideas for aircraft, like a VTOL wing that can transition to level flight.

So many other projects in the queue...

You can join our ArduPilot Telegram group if you need help, lately the guys there have been making lots of VTOL planes, must be the fashion now:

https://t.me/ArdupilotUsers

Thanks.

I just like the elegance of the design of non-tiltrotor VTOLs, in the sense that there aren't a lot of extra parts, just two motors and two control surfaces.

The downside with most designs is the stability of hovering in a cross-wind. You kind of need to automatically yaw so that the wing is span-wise towards the wind. Otherwise it is difficult to maintain position.