What is the logic required for a VTOL to take off?

I have the following model:

I have no problems with launching the propellers, but the following question arose: What needs to be done to make the aircraft take off? How to connect this with simscape multibody?

Now I have the following model:

[Ilya]

Model

[Dyuman Joshi]

" What needs to be done to make the aircraft take off?"

For starters, the upward/vertical thrust should be more than the weight of the aeroplane.

Also, the forward thrust should be able to keep the aeroplane afloat.