Does the Bicopter mode setting set the flight parameters according to the TAILSIT setting or the OctaQuad mode?

[iampete (Peter Hall)]

Bicopter ardupilot firmware

I have now got this working. this is the pixhawk build [Arduplane - tiltrotor V-22] Parameters should be set so Q_FRAME_CLASS = 10 and Q_TILT_TYPE = 3. Flys OK, pitch in the hover is very tricky to tune and it defiantly cant go backwards. updated PR is here Plane: add bi-copter tilt rotors quadplanes by IamPete1 · Pull Request #10793 · ArduPilot/ardupilot · GitHub I suggest you get your plane built and flying in forward flight, then we can go over the setup for the hover.