Plane: Quadplane: tailsitter only change view once transision is complete

ArduPlane/GCS_Mavlink.cpp

@@ -123,7 +123,7 @@ void GCS_MAVLINK_Plane::send_attitude() const
     float p = ahrs.pitch - radians(plane.g.pitch_trim_cd*0.01f);
     float y = ahrs.yaw;
     
-    if (plane.quadplane.in_vtol_mode()) {
+    if (plane.quadplane.show_vtol_view()) {
         r = plane.quadplane.ahrs_view->roll;
         p = plane.quadplane.ahrs_view->pitch;
         y = plane.quadplane.ahrs_view->yaw;

ArduPlane/Log.cpp

@@ -17,7 +17,7 @@ void Plane::Log_Write_Attitude(void)
         targets.z = 0;
     }
 
-    if (quadplane.tailsitter_active() || quadplane.in_vtol_mode()) {
+    if (quadplane.show_vtol_view()) {
         // we need the attitude targets from the AC_AttitudeControl controller, as they
         // account for the acceleration limits.
         // Also, for bodyframe roll input types, _attitude_target_euler_angle is not maintained

ArduPlane/quadplane.cpp

@@ -3380,3 +3380,23 @@ bool QuadPlane::in_vtol_land_sequence(void) const
 {
     return in_vtol_land_approach() || in_vtol_land_descent() || in_vtol_land_final();
 }
+
+// return true if we should show VTOL view
+bool QuadPlane::show_vtol_view() const
+{
+    bool show_vtol = in_vtol_mode();
+
+    if (is_tailsitter() && hal.util->get_soft_armed()) {
+        if (show_vtol && (transition_state == TRANSITION_ANGLE_WAIT_VTOL)) {
+            // in a vtol mode but still transitioning from forward flight
+            return false;
+        }
+
+        if (!show_vtol && (transition_state == TRANSITION_ANGLE_WAIT_FW)) {
+            // not in VTOL mode but still transitioning from VTOL
+            return true;
+        }
+    }
+
+    return show_vtol;
+}

ArduPlane/quadplane.h

@@ -95,6 +95,7 @@ public:
     bool in_vtol_mode(void) const;
     bool in_vtol_posvel_mode(void) const;
     void update_throttle_hover();
+    bool show_vtol_view() const;
 
     // vtol help for is_flying()
     bool is_flying(void);