There is a problem with the FW mode after a transition from MC.
Motor outputs do not match each other (they should in FW) elevons also do not behave properly, they have an offset. If the transition is done in any other mode to FW and then swiching to manual everithing is ok.
There is a log of bench testing this. https://logs.px4.io/plot_app?log=7cb28ce8-e7c6-477c-9a7b-591ba2418a25
I’ve seen it before that the transition logic doesn’t work well in manual mode. Given that most VTOL users though anyway only fly in Stabilized and higher modes, I’m not sure how much priority we can give this to be fixed. Also note that there is a param ( VT_FW_PERM_STAB) - if that is set the transitions should be okay, but it wouldn’t let you fly in manual mode in FW.