Standard vtol lost control after trans to FW

PX4 Autopilot
1

firmware:1.16 stable

Standard VTOL (4+1)

takeoff to about 70m, in manual control mode, MC mode,

then trans to FW by RC switch,

Fixed-wing motor starting accelerating, airspeed gradually increases to 25m/s. The aircraft switches to fixed-wing mode, but the remote control becomes unresponsive. The plane continues accelerating at full throttle until stalling. Why can’t the fixed-wing control surfaces and motor be manually controlled in this mode?

log here: https://logs.px4.io/plot_app?log=4786010f-91ea-4e3f-ba40-b54d96930b55

2

Sorry about the crash. Let me ping @sfuhrer

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11763×1447 360 KB

4

I have reproduced the issue when I test on the ground. It looks like vtol_att_control not running .

The steps I took to reproduce the issue are as follows:

  1. Use the remote controller to switch the mode to Manual Mode.

  2. Arm the vehicle in Multicopter Mode.

  3. Use the remote controller to switch to Fixed-Wing Mode and increase the airspeed.

The issue cannot be reproduced every time, and after it occurs, switching to Attitude Mode using the remote controller will make the issue disappear.