Why is mc_weight calculated using time in the Backward transition?

Hi, everyone.

I have a question about backward transition mc_weight.

In the forward transition, mc_weight was calculated using airspeed. However, in the backward transition, time was used to calculate mc_weight. I don’t know why.

Does anyone know why px4 uses time in backward transition?

From my experience, it smoothens the back transition, i.e. gives it time to slow down and lose airspeed before transitioning to MC mode. It helps prevent the sudden or abrupt/ jerky behavior. I had one that I actually set for six seconds to prevent it from pitching up violently into MC.

Good luck.

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