VTOL Transition to FW in Return and Hold mode

PX4 Autopilot VTOL 🚁
1

Hi

what is behaviuor of VTOL in Transition from multirtor to FW in Return or Hold mode ?

for example in Hold mode does it turn in transition ?
or in Return mode does it start transition in current direction or to home direction?

2

Let me ping @sfuhrer, he might be able to answer these questions.

3

@mohammad Transitioning in hover hold mode: it will transition into the current direction, and then begin to loiter (fly circles). The transition I think is straight, but to be sure I would check
If the vehicle flies in rotary mode in return and then a transition is triggered, it should transition into the direction it was flying and then proceed flying towards home in fixed-wing.

To be sure I that what I said is correct I would encourage you to test these cases in SITL.