Thanks to new technologies in terms of design of software and hardware, Unmanned Aerial Vehicles (UAVs) or drones are spreading all over the world. Drones are effective and compatible to many different fields such as agriculture, military operations, surveillance, scientific studies, cinema and the delivery sector. Due to Multicopters flight efficiency, companies and purchasers are still sceptical of their endurance. Vertical Take Off and Landing (VTOL) drones have been introduced as a solution for both endurance, flight distance and restricted landing and take-off area. These drones are capable of extreme flight conditions but only if correctly controlled. Open-source software often provide basic flight controls and sluggish drones’ dynamic responses.