Position control needs to be deactivated during the transition otherwise it will fight itself.

msg/vtol_vehicle_status.msg

@@ -1,4 +1,5 @@
 uint64 timestamp		# Microseconds since system boot
 bool vtol_in_rw_mode		# true: vtol vehicle is in rotating wing mode
+bool vtol_in_trans_mode
 bool fw_permanent_stab		# In fw mode stabilize attitude even if in manual mode
 float32 airspeed_tot		# Estimated airspeed over control surfaces

src/modules/commander/commander.cpp

@@ -197,6 +197,8 @@ static struct home_position_s _home;
 
 static unsigned _last_mission_instance = 0;
 
+struct vtol_vehicle_status_s vtol_status;
+
 /**
  * The daemon app only briefly exists to start
  * the background job. The stack size assigned in the
@@ -1169,7 +1171,7 @@ int commander_thread_main(int argc, char *argv[])
 
 	/* Subscribe to vtol vehicle status topic */
 	int vtol_vehicle_status_sub = orb_subscribe(ORB_ID(vtol_vehicle_status));
-	struct vtol_vehicle_status_s vtol_status;
+	//struct vtol_vehicle_status_s vtol_status;
 	memset(&vtol_status, 0, sizeof(vtol_status));
 	vtol_status.vtol_in_rw_mode = true;		//default for vtol is rotary wing
 
@@ -2682,13 +2684,13 @@ set_control_mode()
 			!offboard_control_mode.ignore_velocity ||
 			!offboard_control_mode.ignore_acceleration_force;
 
-		control_mode.flag_control_velocity_enabled = !offboard_control_mode.ignore_velocity ||
-			!offboard_control_mode.ignore_position;
+		control_mode.flag_control_velocity_enabled = (!offboard_control_mode.ignore_velocity ||
+			!offboard_control_mode.ignore_position) && !vtol_status.vtol_in_trans_mode;
 
 		control_mode.flag_control_climb_rate_enabled = !offboard_control_mode.ignore_velocity ||
 			!offboard_control_mode.ignore_position;
 
-		control_mode.flag_control_position_enabled = !offboard_control_mode.ignore_position;
+		control_mode.flag_control_position_enabled = !offboard_control_mode.ignore_position && !vtol_status.vtol_in_trans_mode;
 
 		control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_velocity ||
 			!offboard_control_mode.ignore_position;

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -491,6 +491,7 @@ void VtolAttitudeControl::task_main()
 		if (_vtol_type->get_mode() == ROTARY_WING) {
 			// vehicle is in rotary wing mode
 			_vtol_vehicle_status.vtol_in_rw_mode = true;
+			_vtol_vehicle_status.vtol_in_trans_mode = false;
 
 			// got data from mc attitude controller
 			if (fds[0].revents & POLLIN) {
@@ -503,6 +504,7 @@ void VtolAttitudeControl::task_main()
 		} else if (_vtol_type->get_mode() == FIXED_WING) {
 			// vehicle is in fw mode
 			_vtol_vehicle_status.vtol_in_rw_mode = false;
+			_vtol_vehicle_status.vtol_in_trans_mode = false;
 
 			// got data from fw attitude controller
 			if (fds[1].revents & POLLIN) {
@@ -515,6 +517,8 @@ void VtolAttitudeControl::task_main()
 			}
 		} else if (_vtol_type->get_mode() == TRANSITION) {
 			// vehicle is doing a transition
+			_vtol_vehicle_status.vtol_in_trans_mode = true;
+
 			bool got_new_data = false;
 			if (fds[0].revents & POLLIN) {
 				orb_copy(ORB_ID(actuator_controls_virtual_mc), _actuator_inputs_mc, &_actuators_mc_in);