adapted to new vehicle attitude message

src/modules/vtol_att_control/tailsitter.cpp

@@ -131,6 +131,10 @@ void Tailsitter::update_vtol_state()
 	 * For the backtransition the pitch is controlled in MC mode again and switches to full MC control reaching the sufficient pitch angle.
 	*/
 
+	matrix::Quaternion<float> q(&_v_att->q[0]);
+	matrix::Euler<float> euler(q);
+	float pitch = euler(1);
+
 	if (!_attc->is_fixed_wing_requested()) {
 
 
@@ -157,7 +161,7 @@ void Tailsitter::update_vtol_state()
 		case TRANSITION_BACK:
 
 			// check if we have reached pitch angle to switch to MC mode
-			if (_v_att->pitch >= PITCH_TRANSITION_BACK) {
+			if (pitch >= PITCH_TRANSITION_BACK) {
 				_vtol_schedule.flight_mode = MC_MODE;
 			}
 
@@ -180,7 +184,7 @@ void Tailsitter::update_vtol_state()
 
 			// check if we have reached airspeed  and pitch angle to switch to TRANSITION P2 mode
 			if ((_airspeed->indicated_airspeed_m_s >= _params_tailsitter.airspeed_trans
-			     && _v_att->pitch <= PITCH_TRANSITION_FRONT_P1) || can_transition_on_ground()) {
+			     && pitch <= PITCH_TRANSITION_FRONT_P1) || can_transition_on_ground()) {
 				_vtol_schedule.flight_mode = FW_MODE;
 				//_vtol_schedule.transition_start = hrt_absolute_time();
 			}