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But yea, the VTOL is a little hard to master. If I were to have even thrusters front & rear and same space apart from center of mass, then It would be really easy to make a monster good VTOL with god like auto balance, controls and so on. For this one I just used a gyro and autohover to stablelize, so there ain't actually much logic to it, apart from the little trouble of finding the right numbers since the rear thrusters is 2/3 further away than the front (to center of mass) and it's two rear thrusters were as just one front, so it would help a lot if the center of gravity was further back... Aaand now I've been writing too much, I could continue all day. :P
On that note, I might look into it again.
Edit: Alright, I've optimized it a bit, so the engines uses less elec. on startup.
I can make the VTOL stablelize better, but I can't make yaw and roll react better, since I don't want to use a fan for example to controll roll, if that's what you meant by making VTOL easier to land with. I might be able to make yaw faster, but there's downsides to that too. (I wouldn't advice manualy control roll in VTOL if you need a stable altitude since it's only managed by the 2 rear thrusters)
Edit: Turns out it was easy to fix VTOL. The problem was that the rear thrusters was too sensitive on collective.