PX4 has been flying Tailsitters, Tiltrotors and Quad Planes since last summer (instructions here), but we didn't get around to add support to our 3D Gazebo based simulator until now. As its standard-compliant MAVLink its easy to reuse and we've made it part of Dronecode.
The video shows a physically simulated transition of a Quad plane with Gazebo and QGroundControl side by side.
Comments
Wow incredible simulation!