We have built drones with open source platform PX4 and NuttX OS for both fixed-wing and multi-rotor drones but each has their own limitations. Fixed-wing is very fuel efficient and travel far distance while multi-rotor drone is the opposite but can perform hovering easily. The hybrid VTOL is basically the combination of the both techniques as provided in Figure 1.

However the taxonomy in Figure 1 is missing a very important class of drone namely gyrocopter or gyroplane. For full size manned gyrocopter it's a beast to control manually but unmanned drone gyroscope will be the way to go due to its energy efficient flight dynamics and it can perform complex manuevering not unlike multi-rotor drones and semi-hovering (can perform loitering but not vertical movements while hovering).