From 232b6dcef1aa5cd4c8c5b0733fdda006757cd585 Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Fri, 4 Oct 2024 19:26:17 +0200
Subject: [PATCH 1/2] autotest: Added back-transition throttle test

---
 Tools/autotest/quadplane.py | 28 ++++++++++++++++++++++++++++
 1 file changed, 28 insertions(+)

diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index a5a61fe763f79..112ac78f00499 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -1644,6 +1644,33 @@ def TransitionMinThrottle(self):
 
         self.fly_home_land_and_disarm()
 
+    def BackTransitionMinThrottle(self):
+        '''Ensure min throttle is applied during back transition.'''
+        wps = self.create_simple_relhome_mission([
+            (mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 30),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, 30),
+            (mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
+        ])
+        self.check_mission_upload_download(wps)
+        self.set_parameter('Q_RTL_MODE', 1)
+
+        trim_pwm = 1000 + 10*self.get_parameter("TRIM_THROTTLE")
+        min_pwm = 1000 + 10*self.get_parameter("THR_MIN")
+
+        self.change_mode('AUTO')
+        self.wait_ready_to_arm()
+
+        self.arm_vehicle()
+        self.context_collect('STATUSTEXT')
+
+        self.wait_statustext("VTOL airbrake", check_context=True, timeout=300)
+        self.wait_servo_channel_value(3, trim_pwm, comparator=operator.le, timeout=1)
+
+        self.wait_statustext("VTOL position1", check_context=True, timeout=10)
+        self.wait_servo_channel_value(3, min_pwm+10, comparator=operator.le, timeout=1)
+
+        self.wait_disarmed(timeout=60)
+
     def MAV_CMD_NAV_TAKEOFF(self):
         '''test issuing takeoff command via mavlink'''
         self.change_mode('GUIDED')
@@ -1901,6 +1928,7 @@ def tests(self):
             self.mission_MAV_CMD_DO_VTOL_TRANSITION,
             self.mavlink_MAV_CMD_DO_VTOL_TRANSITION,
             self.TransitionMinThrottle,
+            self.BackTransitionMinThrottle,
             self.MAV_CMD_NAV_TAKEOFF,
             self.Q_GUIDED_MODE,
             self.DCMClimbRate,

From acd81b57ec91954da712b6256ffd83934cfe9c38 Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Mon, 7 Oct 2024 11:08:29 +0200
Subject: [PATCH 2/2] Plane: Fix SLT_Transition::active_frwd() check

---
 ArduPlane/quadplane.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index a3e4c39e2ef3c..eb6a16b47c76c 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -4374,7 +4374,9 @@ bool SLT_Transition::allow_update_throttle_mix() const
 
 bool SLT_Transition::active_frwd() const
 {
-    return quadplane.assisted_flight && ((transition_state == TRANSITION_AIRSPEED_WAIT) || (transition_state == TRANSITION_TIMER));
+    return quadplane.assisted_flight && // We need to be in assisted flight...
+        ((transition_state == TRANSITION_AIRSPEED_WAIT) || (transition_state == TRANSITION_TIMER)) // ... and a transition must be active...
+        && !quadplane.in_vtol_airbrake(); // ... but not executing an QPOS_AIRBRAKE maneuver during an automated landing.
 }
 
 /*