Transitioning from VTOL to airplane

Transitioning is simple once everything is tuned. All you have to do is change modes (such as going from QLOITER to FBWA). It will happen automatically. Again, avoid MANUAL. This will instantly cut the multicopter motors and your aircraft will drop like a rock until you manage to regain control and lift up (much like a stall).

This is what will happen when you switch to FBWA or STABILIZE from a Q mode (such as QLOITER):

1. The aircraft will attempt to maintain altitude using the quad motors and engage the airplane's tractor motor to provide thrust at user-inputted throttle.
2. Quad motors will continue to provide lift and stability until ARSPD_FBW_MIN airspeed is reached and if there is no pitot tube, this is based on GPS estimate.
3. Q_TRANSITION_MS will engage and shut down the quad motors over the specified time.

The transition back to multicopter mode works similarly, but has a few differences:

1. Airplane tractor motor will immediately stop.
2. Controls switch to multicopter...