For the conceptual design phase, it is uncomplicated methods and tools are used to do feasibility studies on a large number of VTOL designs with the specific goal to define the suitable design to meet the best performance for the VTOL aircraft. The next phase is preliminary design where one or a couple of designs from the conceptual phase are studied in more detail. The YTU-VTOL-V1 aircraft design possesses both Fixed-wing function and Rotary-wing function. The fixed-wing function is used for flight mode and the rotary-wing is used for helicopter mode. The autopilot system for YTU-VTOL-V1 aircraft system is based on the development of mathematical modeling and stability flight control system with PID controller which is used for longitudinal and lateral motion. Another portion is to accomplish the algorithm for vertical take-off and landing of YTU-VTOL-V1 aircraft system. This work approaches vision-based landing system for UAVs of the type Vertical Take-off and Landing (VTOL). In this work, target detection system is used for landing function. VTOL UAV is able to take-off and to land via a vertical movement in relation to the plain of the landing target with vision system.