Coding for a plane with VTOL/


I am trying to build the code for a coaxial bicopter-cum-plane hybrid firmware. It takes off and lands like a copter, and once it hits a specific velocity it flies like a plane.

I was wondering, if its possible to switch between arduplane and arducopter firmwares in mid flight, given a preset condition is met. Will it be possible to do it on a single erle brain 2? Do I need to use ROS?

Any thoughts on this would be appreciated!

You might like to start by looking at the quadplane code:
extending it to support coaxial copters should be possible