From fdd86c10ba80b563452d38215caa310dcd0def37 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 1 Jan 2016 21:57:31 +1100
Subject: [PATCH] Plane: smoother transitions to auto from VTOL takeoff

---
 ArduPlane/quadplane.cpp | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 0d5a7fd5a5..e55efa886a 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -642,6 +642,9 @@ void QuadPlane::update_transition(void)
             transition_start_ms = millis();
             transition_state = TRANSITION_TIMER;
             GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Transition airspeed reached %.1f", aspeed);
+        } else if (plane.auto_throttle_mode) {
+            // force pitch to zero while building up airspeed
+            plane.nav_pitch_cd = 0;
         }
         assisted_flight = true;
         hold_hover(assist_climb_rate_cms());
@@ -888,8 +891,7 @@ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd)
     if (!available()) {
         return false;
     }
-    plane.prev_WP_loc = plane.current_loc;
-    plane.next_WP_loc = cmd.content.location;
+    plane.set_next_WP(cmd.content.location);
     plane.next_WP_loc.alt = plane.current_loc.alt + cmd.content.location.alt;
     throttle_wait = false;
 
@@ -907,8 +909,7 @@ bool QuadPlane::do_vtol_land(const AP_Mission::Mission_Command& cmd)
     if (!available()) {
         return false;
     }
-    plane.prev_WP_loc = plane.current_loc;
-    plane.next_WP_loc = cmd.content.location;
+    plane.set_next_WP(cmd.content.location);
     throttle_wait = false;    
     land_complete = false;