The XC-142 tilt wing VTOL airplane, basically the 60's version of the V-22 Osprey, used an analog computer to mix the control continuously outputs between verti

The XC-142 tilt wing VTOL airplane, basically the 60's version of the V-22 Osprey, used an analog computer to mix the control continuously outputs between vertical wing mode and horizontal. (For example, differential thrust means roll in vertical mode, but yaw in horizontal mode, whereas ailerons go from roll in horizontal mode to yaw in vertical.) https://en.wikipedia.org/wiki/LTV_XC-142 https://en.wikipedia.org/wiki/LTV_XC-142 I am even more impressed by this, having implemented the control mixing for a model XC-142 on a microprocessor.