When planning a mission for a VTOL, I can not see any commands that are specific for VTOL. The only way it is possible is to start a VTOL simulation and then the options are visible. Or to connect in the field (Often, complex flight plans are best done well in advance in the office and not in the field).
While there is a workabout here to get a command (eg “VTOL_TAKEOFF”). It would be slick to have it all available at once.