Feature request tiem! The engines work amazingly well for the vertical part of a VTOL's flight, but I've got some ideas on how to improve VTOL steering's usefulness in forward flight. I haven't come up with a way to do this for single-pair engine arrangements (I actually haven't even built or flown one), but something like this should allow double-pair craft to maintain full engine-driven attitude control all the way through the sweep from vertical ascent to forward flight by transitioning from the current control method to one that still allows yaw, pitch and roll control when the engines are brought to 0 degrees for forward flight. It could do this by using direction control of the engines to manage pitch and roll, while using thrust to manage yaw. To transition from one system to the other, it weights the two sets of controls by fading one in and one out using sin/cos curves based on the current angle the engines are thrusting at. I've never worked in C# much so instead of writing a terrible unreadable piece of turd I just pastebin'd some javascripty pseudocode here: http://pastebin.com/T7Drx9wE I didn't go through the roll and yaw functions as well but they're pretty similar so that example should pretty well explain what I'm thinking.