Merge pull request #3439 from PX4/vtol_sitl

VTOL fixes for SITL

posix-configs/SITL/init/rcS_gazebo_tailsitter

@@ -52,6 +52,7 @@ fw_pos_control_l1 start
 fw_att_control start
 mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
 mavlink start -u 14556 -r 2000000
+mavlink start -u 14557 -r 2000000 -m onboard
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
@@ -61,4 +62,3 @@ mavlink stream -r 20 -s RC_CHANNELS -u 14556
 mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
 mavlink boot_complete
-sdlog2 start -r 100 -e -t -a

src/modules/vtol_att_control/tailsitter.cpp

@@ -129,7 +129,7 @@ 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.
 	*/
 
-	if (_manual_control_sp->aux1 < 0.0f) {
+	if (!_attc->is_fixed_wing_requested()) {
 
 
 		switch (_vtol_schedule.flight_mode) { // user switchig to MC mode