Since the arduplilot 3.7.1 there was support for tilt rotor vehicles, but the transition was always abit dicey depending on what platform you are using. So in an upcomming 2.8 release there is a new paramater Q_TILT_TYPE that you can set what type of tilt mechanims you are using, be it a continous servo, or a binary servo such as those used with retracts. This lllow you to tell ardupilot how fast your wings are tilting so it can better compensate for the transition! Check out the demo below:
