A type of UAV sharing the advantages of rotorcraft and fixed wing vehicles is the hybrid vehicle. Hybrid UAVs can take-off and land vertically and fly fast and efficient in forward flight due to the presence of a wing generating lift. However, combining the fixed wing and rotorcraft concept ends up in a multi-rotor with large dimensions when landed, and catching a lot of gust when hovering. Therefore, the oblique wing-quad plane drone has been developed which can rotate its quad arm and wing such that the wing can be aligned with the fuselage in hover. The wing can be rotated to fixed wing position during fast forward flight, stowing away one quad-arm. An INDI inner and outer loop controller has been implemented for this platform. Successful flight tests proved the feasibility of this controller and drone concept which is patent pending NL 2031701, Aeronautical Vehicle and Method of Transitioning between Flight Modes for an Aeronautical Vehicle, April 26th 2022, @en

Rotorcraft, fixed wing and hybrid Unmanned Air Vehicles (UAV) each have applications in which they excel. Traditionally, dedicated autopilot control code is written to accommodate flight of each UAV type. This causes fragmentation of control code and may lead to performance differences or errors. In this paper, we propose to use the same INDI controller for rotorcraft, fixed wing and hybrid UAVs, with only parametric differences in control effective matrix definitions and roll, pitch and airspeed limits. The controller is based on earlier work, but relevant derivations are included in this paper. Successful test flights, performed with a Bebop2 quadrotor, a Disco fixed wing, and a Nederdrone tailsitter hybrid demonstrate the feasibility of this approach. @en