Switching Between 4WD and Quadcopter on Single Vehicle

Hi! I’m interested in building a radio controlled vehicle that can switch between a quadcopter and 4WD car mode. The basic idea is that the same four motors drive both modes, and a solenoid pops gears into position to either turn the propellers or the wheels. Is APSync the proper tool to control this type of behavior? What sort of libraries would I look at to switch between the different responses to the radio signals dependent on mode?