VTOL RTL and LANDING ISSUE

@marstears wrote:

VTOL Plane: QuadPlane with forward motor
Firmware: ArduPlane 4.0.9
FC: Pixhawk2 CubeOrange

I followed the wiki to set Q_RTL_MODE=2 to make my plane RTL as a normal fixed wing and loiter to Q_RTL_ALT, and then trans to VTOL to land. But Q_RTL_MODE=2 did not have any effect. The plane RTL as a normal fixed wing and loiter around HOME with RTL_RADIUS. It never doing a transformation to VTOL. I have to change flight mode using MissionPlanner or RC to land it.
I also tyied Q_OPTION=4 as wiki said and use VTOL_LAND mission command, but I got the same result.
I compiled the 4.0.9 source code to use the quadplane simulator. Sadly, the same test got same result.

I just want to make my plane land as this photo.

Please help me. Thanks.

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