From helicopter mode to airplane mode

Hi

I am building a micro uav. I was hoping there there would be VTOL. For this it would begin in helicopter mode, and ascend to a specific altitude, and then there would be a transition phase. Where the motors on the side would tilt from vertical position to a horizontal position, and once this is done, airplane mode would take over. 

Is there an autopilot system I can use which can do this? I know the APM can do both modes, but im not sure if the two modes can be used together. Kindly advise me on possibilities. 

TJ

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