In their report (https://gitlab.com/hybrid-drone/paper https://gitlab.com/hybrid-drone/paper) the authors mention that they implemented one controller for flyin

In their report (https://gitlab.com/hybrid-drone/paper https://gitlab.com/hybrid-drone/paper) the authors mention that they implemented one controller for flying and another for diving. The transition seems to be initiated manually, but they propose a few ways of automatic detection and transition.