Attitude angle at hovering


I use fixed wing aircraft with one propeller and APM2.6 now.
I want a fixed wing aircraft to hover like helicopter. It is necessary to express a pitch of 90 degrees or more, but the range angle of pitch is -90~90 when testing with Arduino.
How can I fix it ?
Is the attitude angle we can see on MP ZYX euler or ZXY euler?

I look forward to your reply.

you need to look here:
it needs the 3.8.0beta releases, and a pixhawk or similar, not APM2


Thank you for reply.
Is it difficult to hover using APM2.6?
I would like to realize it with APM 2.6 if possible, is it impossible?

it is not impossible, but I expect it would require a few months of coding to make it work well