I tested a tailsitter drone today with PX4 dual rotor firmware v1.8.2. In the middle of flying in mission mode, I switched to RTL. When the aircraft reached the home position, it transitioned to multi-copter mode (as expected) then, somehow, it switched back to fixed-wing mode again whereas the vehicle_global_position is healthy, and the aircraft is not in failsafe mode. My question is why did the drone transition back to fixed-wing mode again after it had already transitioned to multi-copter mode during RTL?
My expectation is When switching to RTL mode. The aircraft would fly back home in FW mode then transition back to MC mode and land.