Guided Mode - Help with Q_GUIDED_MODE transition

Hi all,

I am flying a quadplane in guided mode using a dronekit application that updates the target position to fly in smooth circuits. I have Q_GUIDED_MODE enabled so that when the plane reaches its final target it will transition to multi-copter and stop where it is.

However, I am experiencing a problem where the plane will speed up at the start of the transition before slowing down to a stop. The documentation says that the transition starts at WP_LOITER_RAD but i know for sure that there are a multitude of factors governing how the plane transitions

Can anyone give me an overview of what governs how a plane transitions in GUIDED mode? Either a description or a link to the specific code file in ardupilot would be fantastic. Any information on throttle control during that period would be fantastic.


Any help on this?