Understanding Yaw Control During Quadplane Transition

Hi Everyone,


I am trying to better understand what the flight controller is doing in terms of yaw control during the transition, from QLOITER to CRUISE say.

Specifically, are the quads being used to hold a heading? The MC yaw authority is being used in hover, but once transition begins, is any yaw authority coming from the quads anymore, or does stability depend solely on gaining enough speed for aerodynamic yaw stability to kick in (from a vertical surface or otherwise). If this is the case I would imagine a pusher configuration for the FW motor to be less passively stable than a tractor.

Appreciate any thoughts on this!