From 115d089904f91818ffc4ad9e6eb4cd9bc4bedd1f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 20 Jan 2016 18:30:48 +1100
Subject: [PATCH] Plane: continue limiting pitch during last phase of
 transition

this prevents a very high pitch demand causing the plane to slow down
to below assist speed
---
 ArduPlane/quadplane.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index e692574959..cb66f31993 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -755,6 +755,8 @@ void QuadPlane::update_transition(void)
     if (transition_state < TRANSITION_TIMER) {
         // set a single loop pitch limit in TECS
         plane.TECS_controller.set_pitch_max_limit(transition_pitch_max);
+    } else if (transition_state < TRANSITION_DONE) {
+        plane.TECS_controller.set_pitch_max_limit((transition_pitch_max+1)*2);
     }
     
     switch (transition_state) {