diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index b50150890f..6251422841 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1043,7 +1043,7 @@ void QuadPlane::update_transition(void)
 
     if (is_tailsitter()) {
         if (transition_state == TRANSITION_ANGLE_WAIT &&
-            (ahrs_view->pitch_sensor < -tailsitter.transition_angle*100 || plane.fly_inverted())) {
+            tailsitter_transition_complete()) {
             GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Transition done");
             transition_state = TRANSITION_DONE;
         }
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index bc86160746..7599853209 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -83,6 +83,9 @@ public:
     
     // create outputs for tailsitters
     void tailsitter_output(void);
+
+    // check if we have completed transition
+    bool tailsitter_transition_complete(void);
     
     struct PACKED log_QControl_Tuning {
         LOG_PACKET_HEADER;
diff --git a/ArduPlane/tailsitter.cpp b/ArduPlane/tailsitter.cpp
index 0dc030930b..55e113f891 100644
--- a/ArduPlane/tailsitter.cpp
+++ b/ArduPlane/tailsitter.cpp
@@ -44,3 +44,20 @@ void QuadPlane::tailsitter_output(void)
     }
 }
 
+
+/*
+  return true when we have completed enough of a transition to switch to fixed wing control
+ */
+bool QuadPlane::tailsitter_transition_complete(void)
+{
+    if (plane.fly_inverted()) {
+        // transition immediately
+        return true;
+    }
+    if (ahrs_view->pitch_sensor < -tailsitter.transition_angle*100 ||
+        ahrs_view->roll_sensor < -tailsitter.transition_angle*100) {
+        return true;
+    }
+    // still waiting
+    return false;
+}