diff --git a/Jenkinsfile b/Jenkinsfile
index a46a7e6146b4..69e43d8ea5fe 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -240,7 +240,7 @@ pipeline {
           }
         }
 
-        stage('ROS vtol mission new 1') {
+        stage('ROS vtol standard mission new 1') {
           agent {
             docker {
               image 'px4io/px4-dev-ros:2018-03-30'
@@ -271,6 +271,37 @@ pipeline {
           }
         }
 
+        stage('ROS vtol tailsitter mission') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2018-03-30'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
+            sh 'git fetch --tags'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tailsitter'
+            sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
+          }
+          post {
+            always {
+              sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+              archiveArtifacts '.ros/**/*.pdf'
+              archiveArtifacts '.ros/**/*.csv'
+              sh 'make distclean'
+            }
+            failure {
+              archiveArtifacts '.ros/**/*.ulg'
+              archiveArtifacts '.ros/**/rosunit-*.xml'
+              archiveArtifacts '.ros/**/rostest-*.log'
+            }
+          }
+        }
+
         stage('ROS vtol mission new 2') {
           agent {
             docker {
diff --git a/posix-configs/SITL/init/ekf2/tailsitter b/posix-configs/SITL/init/ekf2/tailsitter
index 6c841e6fa49a..f8edcc9ca931 100644
--- a/posix-configs/SITL/init/ekf2/tailsitter
+++ b/posix-configs/SITL/init/ekf2/tailsitter
@@ -31,15 +31,18 @@ param set MPC_XY_VEL_D 0.005
 param set MPC_XY_VEL_P 0.05
 param set MPC_Z_VEL_I 0.15
 param set MPC_Z_VEL_P 0.8
+param set MPC_LAND_SPEED 1.5
 param set NAV_DLL_ACT 2
 param set SDLOG_DIRS_MAX 7
 param set SENS_BOARD_ROT 0
 param set SENS_BOARD_X_OFF 0.000001
 param set SENS_DPRES_OFF 0.001
-param set SYS_AUTOSTART 4010
+param set SYS_AUTOSTART 13003
 param set SYS_MC_EST_GROUP 2
 param set SYS_RESTART_TYPE 2
 param set VT_TYPE 0
+param set VT_F_TRANS_DUR 1.5
+param set VT_F_TRANS_THR 0.7
 replay tryapplyparams
 simulator start -s
 tone_alarm start
diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp
index f765c424fb1c..73fee6f092dd 100644
--- a/src/modules/vtol_att_control/tailsitter.cpp
+++ b/src/modules/vtol_att_control/tailsitter.cpp
@@ -198,8 +198,6 @@ void Tailsitter::update_transition_state()
 		_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body, PITCH_TRANSITION_FRONT_P1 - 0.2f,
 							_pitch_transition_start);
 
-		_v_att_sp->thrust = _mc_virtual_att_sp->thrust;
-
 		// disable mc yaw control once the plane has picked up speed
 		if (_airspeed->indicated_airspeed_m_s > ARSP_YAW_CTRL_DISABLE) {
 			_mc_yaw_weight = 0.0f;
@@ -222,9 +220,6 @@ void Tailsitter::update_transition_state()
 					time_since_trans_start / _params->back_trans_duration;
 		_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body, -2.0f, PITCH_TRANSITION_BACK + 0.2f);
 
-
-		_v_att_sp->thrust = _mc_virtual_att_sp->thrust;
-
 		// keep yaw disabled
 		_mc_yaw_weight = 0.0f;
 
@@ -233,6 +228,13 @@ void Tailsitter::update_transition_state()
 
 	}
 
+	if (_v_control_mode->flag_control_climb_rate_enabled) {
+		_v_att_sp->thrust = _params->front_trans_throttle;
+
+	} else {
+		_v_att_sp->thrust = _mc_virtual_att_sp->thrust;
+	}
+
 	_mc_roll_weight = math::constrain(_mc_roll_weight, 0.0f, 1.0f);
 	_mc_yaw_weight = math::constrain(_mc_yaw_weight, 0.0f, 1.0f);
 	_mc_pitch_weight = math::constrain(_mc_pitch_weight, 0.0f, 1.0f);