I see the PR has been merged, and I just tested it to be working with my SITL/Realflight setup. Still waiting for a more solid numbered release to use before I load it on a plane, though.
There’s still a bit of concern if you try to RTL while hovering at a low altitude beyond the Q_RTL_Radius, but that’s not a condition I ever intend to be in while flying. I only use hovering for takeoff and landing. That being said, a system like “if hovering below X feet AGL and RTL is engaged, climb to above X feet AGL before attempting transition” would be nice for the people that use VTOL capabilities more freely.
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