A model for the dynamics of a four rotor vertical take-off and landing (VTOL) vehicle known as an X4-flyer is proposed. The model incorporates the airframe and motor dynamics as well as aerodynamic and gyroscopic effects due to the rotors for quasi-stationary flight conditions. A novel control strategy is proposed for configuration stabilization of quasi-stationary flight conditions. The approach taken involves separating the rigid body (airframe) dynamics from the motor dynamics, developing separate control Lyapunov functions for the coupled systems and then bounding the perturbation error due to the interaction to obtain strong practical stability of the complete system.