KerbalX

A stock aircraft called VTOL BUG. Built with 71 of the finest parts, its root part is Mark2Cockpit.

Built in the SPH in KSP version 1.12.3.

Gimbal arms to vector thrust. Cockpit RW set to SAS only. All commanded pitch/roll/yaw through vectored thrust only. Image has engines as landing gear which worked ok but took great care in landing. Panels now added either side of each engine. Part death increased from 7m/s to 80m/s (I forget the number). Works well after much playing around.

Thrust limits change across time in vertical flight to balance for fuel usage.

Thrust limits, angle of engines, joint traverse rates all change with throttle position in vertical flight in an attempt to maintain a steady level of authority across thrust range.

In vertical flight throttle range is 50% - 100% thrust except for zero throttle which will return zero thrust. This allows for careful adjustment.

In horizontal flight throttle returns to 0%-100% thrust. Engine vectoring and thrust limits change between horizontal and vertical flight also.

Avoid excessive yaw in vertical flight when travelling at greater than 30m/s across the ground -> massive sudden roll. Use roll and pitch for major changes at these speeds.

Wings are very small, thrust vector in horizontal flight helps keep the nose up. In horizontal flight the craft will scrub speed in hard turns until it drops like a lead balloon.

When shut down the legs will collapse. Pitch nose down and the nose will fall evenly, door opens and you can get in/out of craft. Custom action 10.

Transition to horizontal flight by tipping nose forward from the hover about 15-20 degrees. When 20m/s achieved custom action 9 to transition. As legs transition move nose to 5 degrees above horizon and away you go.