How to determine whether QuadPlane is in a VTOL mode via MAVLink (Autonomous Flight)

Hi there,

I was hoping that someone could help me out with determining whether my quadplane is in a quadrotor flight mode during autonomous flight (i.e. during the course of a flight plan uploaded from a GCS). I need to make use of MAVLink to communicate with the pixhawk flight controller using an arduino microcontroller. I know that it is possible to query the flight mode (i.e. QHover, QStabilised, FBW-B, etc) via MAVLink when flying using RC but I am still unsure as to whether this is applicable for autonomous missions as I suspect that the controller doesn’t switch between these modes for VTOL Take-Off and Transition commands in flight plans.

Any clarification and/or help would be greatly appreciated.