© 2020, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.In this study, we propose an autonomous flight control strategy (which is valid for all flight modes including vertical flight, hover, and level flight) for a vertical takeoff and landing capable, tilt-prop, fixed wing, tricopter unmanned aerial vehicle. In the inner loop of proposed hierarchical architecture, desired control forces and moments are generated using adaptive control theory, and these forces and moments are realized by tricopter motors and aerodynamic control surfaces with an introduced control allocation methodology. In the outer control loop, a pitch offset command is introduced so that the strategy for transition from hover to level flight (and vice versa) can be adjusted. Using this pitch offset command, one may follow the transitioning path on which lift-to-drag ratio becomes maximum that makes the transitioning maneuver cost efficient. Outer control loop also generates the desired attitude commands and continuous front motor tilt angle using reference velocity commands. Hence, no switch is required in the controller while operating between the flight modes. The success of the proposed control architecture is illustrated through numerical simulations on a Hi-Fi nonlinear tricopter model.