Unstable fixed wing to VTOL transition in RTL/QRTL

[batmanthemaverick]

I am working on a non vectored dual rotor tailsitter which fly well in VTOL and fixed wing also the transition. But whenever i call for RTL/QRTL it has this unstable transition to VTOL. I have checked with FBWA to QLoiter everything works but not in RTL/QRTL.

Since I am facing this issue from more than 1 year, I assume it to be a bug.

Link for the forum, https://discuss.ardupilot.org/t/dual-tailsitter/116580/32?u=tailor

Issue details
Transition between FW to Qloiter is stable but not in RTL/QRTL

This if when FBWA to Qloiter

This image is when RTL

Version
I have tried from 4.5.0 to 4.5.7

Platform
[ ] Plane

Airframe type
Non vectored dual rotor tailsitter

Hardware type
_Orange cube plus

Logs
https://drive.google.com/drive/folders/1aq9JY4Cd_5jd_P8Lb85R8-0xxI9xO2jk?usp=sharing

@IamPete1 @tridge @magicrub Tagging for your attention