The first step is to make a helicopter foundation with a seat, battery(For motors although you can make an engine on the pivot if you want.) and walls then to make two small wings on the side of it,
like this. Make sure you have symmetry mode

Now we get into the good stuff. Put a pivot on the side of both wings as seen in this screenshot.
Put a few blocks on top of your pivot and then an electric motor.







Now turn off symmetry mode and add a small rotor to each one with the torque facing towards each other. (Press U on the second one). If you dont understand this look at the screenshot.

This is good so far but you dont have any controls. add a seat with auto hover tied to 1 and a throttle to the electric motors. In addition, add a gyro somewhere.
Now for the difficult part we will have to make a microcontroller.

Here is a screenshot of the microcontroller i built so that you can recreate it, type x*-1 into the
function.

Add the microcontroller to your vehicle next to the gyro and a numerical inverter.

First wire up your seat controls to the gyro like you would a normal helicopter, Once that is done connect stabilised pitch to the Pitch In of the microcontroller we built and
connect stabilised yaw to the Yaw In. Connect stabilised roll to the left rotor's roll and the numerical inverter, then connect the numerical inverter's output to the right rotor's roll.
Wire stabilized up down to both rotor's collectives. Finally, connect the microcontrollers right pitch out to the right rotor's pitch and left pitch out to the left rotor's pitch. (make sure to make both rotors neutral in properties )

Connect electricity to everything and add another throttle to control the rotation of both pivots (to tilt the rotors)and have fun trying it out! If vtol mode does not work you might need to make the blocks on the pivot longer (Just remove the rotor with selection grid then re attach it). If it thrashes around turn off your auto hover in plane mode. Im glad if it helped you.