From 74da3c74acbf0fe1095722704225786d3f1a44c5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 15 May 2021 08:14:06 +1000
Subject: [PATCH] Plane: cope with Q pitch limit larger than fixed wing limit

prevents tailsitter VTOL transition timeout due to not achieving angle
---
 ArduPlane/tailsitter.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/tailsitter.cpp b/ArduPlane/tailsitter.cpp
index 08da8c53de..02373f192d 100644
--- a/ArduPlane/tailsitter.cpp
+++ b/ArduPlane/tailsitter.cpp
@@ -278,7 +278,10 @@ bool QuadPlane::tailsitter_transition_vtol_complete(void) const
             return true;
         }
     }
-    const float trans_angle = get_tailsitter_transition_angle_vtol();
+    // limit completion angle to just below fixed wing pitch limit
+    const float margin_deg = 3;
+    const float trans_angle = MIN(get_tailsitter_transition_angle_vtol(),
+                                  plane.aparm.pitch_limit_max_cd*0.01-margin_deg);
     if (labs(plane.ahrs.pitch_sensor) > trans_angle*100) {
         gcs().send_text(MAV_SEVERITY_INFO, "Transition VTOL done");
         return true;