diff --git a/msg/manual_control_setpoint.msg b/msg/manual_control_setpoint.msg
index 8295eba074..599e63d5a9 100644
--- a/msg/manual_control_setpoint.msg
+++ b/msg/manual_control_setpoint.msg
@@ -51,4 +51,5 @@ uint8 loiter_switch		 # loiter 2 position switch (optional): _MISSION_, LOITER
 uint8 acro_switch		 # acro 2 position switch (optional): _MANUAL_, ACRO
 uint8 offboard_switch	 # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
 uint8 kill_switch		 # throttle kill: _NORMAL_, KILL
+uint8 transition_switch	 # VTOL transition switch: _HOVER, FORWARD_FLIGHT
 int8 mode_slot			 # the slot a specific model selector is in
diff --git a/msg/rc_channels.msg b/msg/rc_channels.msg
index 769a393216..52d89df5fb 100644
--- a/msg/rc_channels.msg
+++ b/msg/rc_channels.msg
@@ -20,11 +20,12 @@ uint8 RC_CHANNELS_FUNCTION_PARAM_2=17
 uint8 RC_CHANNELS_FUNCTION_PARAM_3_5=18
 uint8 RC_CHANNELS_FUNCTION_RATTITUDE=19
 uint8 RC_CHANNELS_FUNCTION_KILLSWITCH=20
+uint8 RC_CHANNELS_FUNCTION_TRANSITION=21
 
 uint64 timestamp_last_valid					# Timestamp of last valid RC signal
 float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
 uint8 channel_count						# Number of valid channels
-int8[21] function						# Functions mapping
+int8[22] function						# Functions mapping
 uint8 rssi							# Receive signal strength indicator (0-100)
 bool signal_lost						# Control signal lost, should be checked together with topic timeout
 uint32 frame_drop_count						# Number of dropped frames
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 57313d2afb..b4e8983f2a 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -2516,6 +2516,34 @@ PARAM_DEFINE_INT32(RC_MAP_KILL_SW, 0);
  */
 PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0);
 
+/**
+ * VTOL transition switch channel mapping
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Switches
+ * @value 0 Unassigned
+ * @value 1 Channel 1
+ * @value 2 Channel 2
+ * @value 3 Channel 3
+ * @value 4 Channel 4
+ * @value 5 Channel 5
+ * @value 6 Channel 6
+ * @value 7 Channel 7
+ * @value 8 Channel 8
+ * @value 9 Channel 9
+ * @value 10 Channel 10
+ * @value 11 Channel 11
+ * @value 12 Channel 12
+ * @value 13 Channel 13
+ * @value 14 Channel 14
+ * @value 15 Channel 15
+ * @value 16 Channel 16
+ * @value 17 Channel 17
+ * @value 18 Channel 18
+ */
+PARAM_DEFINE_INT32(RC_MAP_TRANS_SW, 0);
+
 /**
  * AUX1 Passthrough RC Channel
  *
@@ -2930,6 +2958,24 @@ PARAM_DEFINE_FLOAT(RC_OFFB_TH, 0.5f);
  */
 PARAM_DEFINE_FLOAT(RC_KILLSWITCH_TH, 0.25f);
 
+/**
+ * Threshold for the VTOL transition switch
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
+ *
+ * @min -1
+ * @max 1
+ * @group Radio Switches
+ *
+ *
+ */
+PARAM_DEFINE_FLOAT(RC_TRANS_TH, 0.25f);
+
 /**
  * PWM input channel that provides RSSI.
  *
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 52f250396f..c8fd89da5c 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -305,6 +305,7 @@ private:
 		int rc_map_acro_sw;
 		int rc_map_offboard_sw;
 		int rc_map_kill_sw;
+		int rc_map_trans_sw;
 
 		int rc_map_flaps;
 
@@ -328,6 +329,7 @@ private:
 		float rc_acro_th;
 		float rc_offboard_th;
 		float rc_killswitch_th;
+		float rc_trans_th;
 		bool rc_assist_inv;
 		bool rc_auto_inv;
 		bool rc_rattitude_inv;
@@ -337,6 +339,7 @@ private:
 		bool rc_acro_inv;
 		bool rc_offboard_inv;
 		bool rc_killswitch_inv;
+		bool rc_trans_inv;
 
 		float battery_voltage_scaling;
 		float battery_current_scaling;
@@ -375,6 +378,7 @@ private:
 		param_t rc_map_acro_sw;
 		param_t rc_map_offboard_sw;
 		param_t rc_map_kill_sw;
+		param_t rc_map_trans_sw;
 
 		param_t rc_map_flaps;
 
@@ -402,6 +406,7 @@ private:
 		param_t rc_acro_th;
 		param_t rc_offboard_th;
 		param_t rc_killswitch_th;
+		param_t rc_trans_th;
 
 		param_t battery_voltage_scaling;
 		param_t battery_current_scaling;
@@ -650,6 +655,7 @@ Sensors::Sensors() :
 	_parameter_handles.rc_map_acro_sw = param_find("RC_MAP_ACRO_SW");
 	_parameter_handles.rc_map_offboard_sw = param_find("RC_MAP_OFFB_SW");
 	_parameter_handles.rc_map_kill_sw = param_find("RC_MAP_KILL_SW");
+	_parameter_handles.rc_map_trans_sw = param_find("RC_MAP_TRANS_SW");
 
 	_parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
 	_parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
@@ -678,6 +684,8 @@ Sensors::Sensors() :
 	_parameter_handles.rc_acro_th = param_find("RC_ACRO_TH");
 	_parameter_handles.rc_offboard_th = param_find("RC_OFFB_TH");
 	_parameter_handles.rc_killswitch_th = param_find("RC_KILLSWITCH_TH");
+	_parameter_handles.rc_trans_th = param_find("RC_TRANS_TH");
+
 
 	/* Differential pressure offset */
 	_parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
@@ -850,6 +858,10 @@ Sensors::parameters_update()
 		PX4_WARN("%s", paramerr);
 	}
 
+	if (param_get(_parameter_handles.rc_map_trans_sw, &(_parameters.rc_map_trans_sw)) != OK) {
+		warnx("%s", paramerr);
+	}
+
 	if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
 		PX4_WARN("%s", paramerr);
 	}
@@ -894,6 +906,9 @@ Sensors::parameters_update()
 	param_get(_parameter_handles.rc_killswitch_th, &(_parameters.rc_killswitch_th));
 	_parameters.rc_killswitch_inv = (_parameters.rc_killswitch_th < 0);
 	_parameters.rc_killswitch_th = fabs(_parameters.rc_killswitch_th);
+	param_get(_parameter_handles.rc_trans_th, &(_parameters.rc_trans_th));
+	_parameters.rc_trans_inv = (_parameters.rc_trans_th < 0);
+	_parameters.rc_trans_th = fabs(_parameters.rc_trans_th);
 
 	/* update RC function mappings */
 	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1;
@@ -909,6 +924,7 @@ Sensors::parameters_update()
 	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ACRO] = _parameters.rc_map_acro_sw - 1;
 	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
 	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH] = _parameters.rc_map_kill_sw - 1;
+	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION] = _parameters.rc_map_trans_sw - 1;
 
 	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1;
 
@@ -2112,6 +2128,8 @@ Sensors::rc_poll()
 						 _parameters.rc_offboard_th, _parameters.rc_offboard_inv);
 			manual.kill_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH,
 					     _parameters.rc_killswitch_th, _parameters.rc_killswitch_inv);
+			manual.transition_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION,
+					     _parameters.rc_trans_th, _parameters.rc_trans_inv);
 
 			/* publish manual_control_setpoint topic */
 			if (_manual_control_pub != nullptr) {