Plane: Don't declare transition done until rotor fwd tilt finished

priseborough · Mar 10, 2025 · de31524 · de31524
1 parent e9e4a20
commit de31524
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
@@ -1563,11 +1563,12 @@ void SLT_Transition::update()
 
     case TRANSITION_TIMER: {
         quadplane.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
-        // after airspeed is reached we degrade throttle over the
-        // transition time, but continue to stabilize
+        // after airspeed is reached we degrade throttle over the transition time, but continue
+        // to stabilize and wait for any required forward tilt to complete and the timer to expire
         const uint32_t transition_timer_ms = now - transition_low_airspeed_ms;
         const float trans_time_ms = constrain_float(quadplane.transition_time_ms,500,30000);
-        if (transition_timer_ms > unsigned(trans_time_ms)) {
+        const bool tilt_fwd_complete = !quadplane.tiltrotor.enabled() || quadplane.tiltrotor.tilt_angle_achieved();
+        if (transition_timer_ms > unsigned(trans_time_ms) && tilt_fwd_complete) {
             transition_state = TRANSITION_DONE;
             in_forced_transition = false;
             transition_start_ms = 0;