Plane: tailsitter: transistion to and from inverted flight

ArduPlane/quadplane.cpp

@@ -1932,7 +1932,7 @@ void QuadPlane::update_transition(void)
         assisted_flight = true;
         uint32_t dt = now - transition_start_ms;
         // multiply by 0.1 to convert (degrees/second * milliseconds) to centi degrees
-        plane.nav_pitch_cd = constrain_float(transition_initial_pitch - (tailsitter.transition_rate_fw * dt) * 0.1f, -8500, 8500);
+        plane.nav_pitch_cd = constrain_float(transition_initial_pitch - (tailsitter.transition_rate_fw * dt) * 0.1f * (plane.fly_inverted()?-1.0f:1.0f), -8500, 8500);
         plane.nav_roll_cd = 0;
         check_attitude_relax();
         attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,

ArduPlane/tailsitter.cpp

@@ -246,20 +246,11 @@ bool QuadPlane::tailsitter_transition_fw_complete(void)
         // instant trainsition when disarmed, no message
         return true;
     }
-    if (plane.fly_inverted()) {
-        // transition immediately
-        gcs().send_text(MAV_SEVERITY_INFO, "Transition FW done, inverted flight");
-        return true;
-    }
-    int32_t roll_cd = labs(ahrs_view->roll_sensor);
-    if (roll_cd > 9000) {
-        roll_cd = 18000 - roll_cd;
-    }
     if (labs(ahrs_view->pitch_sensor) > tailsitter.transition_angle_fw*100) {
         gcs().send_text(MAV_SEVERITY_INFO, "Transition FW done");
         return true;
     }
-    if (roll_cd > MAX(4500, plane.roll_limit_cd + 500)) {
+    if (labs(ahrs_view->roll_sensor) > MAX(4500, plane.roll_limit_cd + 500)) {
         gcs().send_text(MAV_SEVERITY_INFO, "Transition FW done, roll error");
         return true;
     }
@@ -281,11 +272,6 @@ bool QuadPlane::tailsitter_transition_vtol_complete(void) const
         // instant trainsition when disarmed, no message
         return true;
     }
-    if (plane.fly_inverted()) {
-        // transition immediately
-        gcs().send_text(MAV_SEVERITY_INFO, "Transition VTOL done, inverted flight");
-        return true;
-    }
     // for vectored tailsitters at zero pilot throttle
     if ((plane.quadplane.get_pilot_throttle() < .05f) && plane.quadplane._is_vectored) {
         // if we are not moving (hence on the ground?) or don't know
@@ -300,7 +286,11 @@ bool QuadPlane::tailsitter_transition_vtol_complete(void) const
         gcs().send_text(MAV_SEVERITY_INFO, "Transition VTOL done");
         return true;
     }
-    if (labs(plane.ahrs.roll_sensor) > MAX(4500, plane.roll_limit_cd + 500)) {
+    int32_t roll_cd = labs(plane.ahrs.roll_sensor);
+    if (plane.fly_inverted()) {
+        roll_cd = 18000 - roll_cd;
+    }
+    if (roll_cd > MAX(4500, plane.roll_limit_cd + 500)) {
         gcs().send_text(MAV_SEVERITY_INFO, "Transition VTOL done, roll error");
         return true;
     }