iNavFlight · mart1npetroff · May 12, 2026 · May 12, 2026 · May 12, 2026 · May 12, 2026
diff --git a/docs/MixerProfile.md b/docs/MixerProfile.md
@@ -22,6 +22,17 @@ Transition input is disabled when navigation mode is activate
 
 The use of Transition Mode is recommended to enable further features and future developments like fail-safe support. Mapping motor to servo output, or servo with logic conditions is **not** recommended
 
+`MIXER TRANSITION` now behaves as a transition trigger/request (edge-triggered), not a continuous blend hold:
+
+- A rising edge starts one transition (MC->FW or FW->MC depending on current profile).
+- The transition state machine runs automatically to completion.
+- Keeping the mode ON does not repeatedly restart transitions.
+- A new transition requires mode OFF then ON again.
+- If switched OFF before hot-switch completes, the manual transition request is aborted.
+
+This edge-triggered behavior is enabled by `manual_vtol_transition_controller`.
+When `manual_vtol_transition_controller = OFF`, manual transition keeps legacy behavior.
+
 ## Servo
 
 `Mixer Transition` is the input source for transition input; use this to tilt motor to gain airspeed.
@@ -72,6 +83,100 @@ This feature is mainly for RTH in a failsafe event. When set properly, model wil
 Set `mixer_automated_switch` to `ON` in mixer_profile for MC mode. Set `mixer_switch_trans_timer` in mixer_profile for MC mode for the time required to gain airspeed for your model before entering to FW mode.
 When `mixer_automated_switch`:`OFF` is set for all mixer_profiles(defaults). Model will not perform automated transition at all.
 
+### Unified VTOL transition controller
+
+Manual `MIXER TRANSITION` and mission-authorized VTOL transition both use the same internal transition controller.
+This controller always computes transition progress/completion and performs profile hot-switch only inside the authorized transition state.
+When `vtol_transition_dynamic_mixer = ON`, pusher/lift/authority scaling is enabled and is driven by:
+- transition progress (default), or
+- `vtol_transition_scale_ramp_time_ms` when configured (>0).
+
+### Airspeed-first completion
+
+When pitot airspeed is healthy and available, transition completion uses pitot thresholds:
+
+- `vtol_transition_to_fw_min_airspeed_cm_s` for MC->FW
+- `vtol_transition_to_mc_max_airspeed_cm_s` for FW->MC
+- If `vtol_transition_to_fw_min_airspeed_cm_s = 0`, MC->FW falls back to legacy `mixer_switch_trans_airspeed_cm_s`.
+
+If pitot is unavailable/unhealthy (or threshold is `0`), timer fallback is used (`mixer_switch_trans_timer`).
+Ground speed is not used for transition completion/progress.
+
+Optional safety timeout:
+
+- `vtol_transition_airspeed_timeout_ms` can abort transition if airspeed condition is not met in time.
+
+### Dynamic scaling (optional)
+
+When `vtol_transition_dynamic_mixer = ON`, transition progress scales:
+
+- pusher contribution (`-2.0 < throttle < -1.0` motors) from configured max toward 0/100% depending on direction,
+- lift motor throttle contribution (`vtol_transition_lift_end_percent`),
+- MC stabilization authority (`vtol_transition_mc_authority_end_percent`),
+- FW authority start level (`vtol_transition_fw_authority_start_percent`, servo transition input blend).
+
+Default is OFF to preserve existing behavior.
+With dynamic scaling enabled, `vtol_transition_fw_authority_start_percent = 100` preserves legacy FW authority handoff; lower values provide smoother ramp-in.
+
+Optional scaling ramp timer:
+
+- `vtol_transition_scale_ramp_time_ms = 0` (default): scaling remains coupled to transition progress (legacy-compatible behavior).
+- `vtol_transition_scale_ramp_time_ms > 0`: scaling uses this timer, while transition completion stays airspeed-first (or timer fallback if pitot unavailable/unhealthy).
+
+Example:
+
+- `mixer_switch_trans_timer = 50` (5s fallback completion timer)
+- `vtol_transition_scale_ramp_time_ms = 1200`
+
+Result:
+- scaling reaches target levels in ~1.2s,
+- transition completion still follows airspeed threshold when pitot is healthy,
+- timer fallback completion still uses 5s when pitot is unavailable/unhealthy.
+
+### Mission-authorized VTOL transition (waypoint User Action)
+
+INAV supports mission-requested VTOL transitions through the existing automated transition path. This is configured with:
+
+- `nav_vtol_mission_transition_user_action` (`OFF`, `USER1`, `USER2`, `USER3`, `USER4`)
+- `nav_vtol_mission_transition_min_altitude_cm` (optional, `0` disables minimum-altitude check)
+- `vtol_transition_to_fw_min_airspeed_cm_s` (preferred MC->FW threshold)
+- `mixer_switch_trans_airspeed_cm_s` (legacy MC->FW fallback when preferred threshold is `0`)
+
+On each navigable mission waypoint (`WAYPOINT`, `POSHOLD_TIME`, `LAND`), the configured USER action bit is used as absolute target selector:
+
+- selected USER bit = `0` -> transition to MC / MULTIROTOR profile
+- selected USER bit = `1` -> transition to FW / AIRPLANE profile
+- When `nav_vtol_mission_transition_user_action != OFF`, each navigable waypoint encodes a target state via that selected bit.
+- This is a per-waypoint target-state declaration (not an event trigger). Users should intentionally set/clear the selected USER bit on each navigable waypoint.
+- This is **not** a toggle command.
+- If already in the requested profile type, the action is treated as complete (idempotent).
+
+The mission pauses while transition is in progress and resumes after completion.
+
+For MC -> FW mission transitions, navigation uses a straight acceleration segment (no loiter) to build speed before hot-switch.
+Mission path uses the same controller and completion logic as manual transition (airspeed-first, timer fallback).
+
+Manual RC switching (`MIXER PROFILE 2`, `MIXER TRANSITION`) remains blocked during normal active navigation. Mission VTOL transition does not bypass the hot-switch safety guard; it only authorizes switching inside the automated transition state.
+Mission VTOL transition still relies on normal profile-switch infrastructure: configure two mixer profiles and a valid `MIXER PROFILE 2` mode activation condition.
+
+Example smooth-start values (optional tuning baseline):
+- `set vtol_transition_dynamic_mixer = ON`
+- `set vtol_transition_lift_end_percent = 30`
+- `set vtol_transition_mc_authority_end_percent = 20`
+- `set vtol_transition_fw_authority_start_percent = 20`
+
+### Validation Matrix (PR / SITL / HITL)
+
+- MC->FW manual, pitot healthy/available.
+- MC->FW manual, no pitot (timer fallback).
+- FW->MC manual, pitot healthy/available.
+- FW->MC manual, no pitot (timer fallback).
+- `MIXER TRANSITION` held ON after completion (no repeated starts).
+- `MIXER TRANSITION` OFF before hot-switch (safe abort).
+- Mission transition with selected USER bit = `1` (TO_FW).
+- Mission transition with selected USER bit = `0` (TO_MC).
+- Failsafe/disarm during active transition (abort and no blind mission resume).
+
 ## TailSitter (planned for INAV 7.1)
 TailSitter is supported by add a 90deg offset to the board alignment. Set the board aliment normally in the mixer_profile for FW mode(`set platform_type = AIRPLANE`), The motor trust axis should be same direction as the airplane nose. Then, in the mixer_profile for takeoff and landing set `tailsitter_orientation_offset = ON ` to apply orientation offset. orientation offset will also add a 45deg orientation offset.
 

diff --git a/docs/Navigation.md b/docs/Navigation.md
@@ -102,6 +102,45 @@ Parameters:
 
   * `<flag>` - Last waypoint must have `flag` set to 165 (0xA5).
 
+### Mission VTOL transition using existing User Actions
+
+Mission VTOL transition can be requested.
+
+Configuration:
+
+- `nav_vtol_mission_transition_user_action` selects which waypoint User Action (`USER1..USER4`) is used as the mission VTOL target selector.
+- `nav_vtol_mission_transition_min_altitude_cm` optionally enforces a minimum altitude before transition start (`0` disables check).
+- `nav_vtol_mission_transition_track_distance_cm` configures straight-line MC->FW transition guidance distance.
+- VTOL transition completion logic is shared with manual MIXER TRANSITION and uses mixer transition settings:
+  - preferred MC->FW threshold: `vtol_transition_to_fw_min_airspeed_cm_s`
+  - legacy MC->FW fallback (when preferred threshold is `0`): `mixer_switch_trans_airspeed_cm_s`
+  - FW->MC threshold: `vtol_transition_to_mc_max_airspeed_cm_s`
+
+Behavior on each navigable mission waypoint (`WAYPOINT`, `POSHOLD_TIME`, `LAND`):
+
+- The configured USER bit is an **absolute target selector**:
+  - `0`: transition to MC / MULTIROTOR profile
+  - `1`: transition to FW / AIRPLANE profile
+- When `nav_vtol_mission_transition_user_action != OFF`, each navigable waypoint always encodes target state via that selected USER bit.
+- This means every navigable waypoint implicitly declares desired VTOL platform state when this feature is enabled; users must intentionally set/clear that bit on each waypoint.
+- This command is **not** a toggle.
+- The command is idempotent: if already in the requested target profile type, the mission continues immediately.
+- If a transition is needed, mission progression pauses while automated transition runs, then resumes only after completion.
+
+Transition behavior in this MVP:
+
+- MC -> FW: straight-line acceleration segment (no loiter), heading from the next waypoint bearing when available, otherwise current heading.
+- MC -> FW and FW -> MC completion uses pitot airspeed thresholds when healthy/available (`vtol_transition_to_fw_min_airspeed_cm_s`, `vtol_transition_to_mc_max_airspeed_cm_s`).
+- If pitot is unavailable/unhealthy (or threshold disabled), timer fallback (`mixer_switch_trans_timer`) is used.
+- Ground speed is not used for transition progress/completion.
+- FW -> MC: mission pauses during automated transition, then resumes after switching back to MC profile.
+- Strict altitude hold is not enforced during MC -> FW transition; natural climb is allowed.
+
+Safety and scope:
+
+- This path uses authorized automated transition state handling; it does not permit manual mixer profile switching during normal waypoint navigation.
+- It still depends on valid mixer profile switching infrastructure (two configured mixer profiles and a valid `MIXER PROFILE 2` mode activation condition).
+
 `wp save` - Checks list of waypoints and save from FC to EEPROM (warning: it also saves all unsaved CLI settings like normal `save`).
 
 `wp reset` - Resets the list, sets the number of waypoints to 0 and marks the list as invalid (but doesn't delete the waypoint definitions).

diff --git a/docs/Settings.md b/docs/Settings.md
@@ -2824,6 +2824,16 @@ Servo travel multiplier for the ROLL axis in `MANUAL` flight mode [0-100]%
 
 ---
 
+### manual_vtol_transition_controller
+
+Enables edge-triggered manual VTOL transition controller for `MIXER TRANSITION` when not in waypoint mission. OFF keeps legacy manual transition behavior.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
 ### manual_yaw_rate
 
 Servo travel multiplier for the YAW axis in `MANUAL` flight mode [0-100]%
@@ -3199,6 +3209,16 @@ If enabled, control_profile_index will follow mixer_profile index. Set to OFF(de
 
 ---
 
+### mixer_switch_trans_airspeed_cm_s
+
+Legacy MC->FW airspeed threshold [cm/s] for automated profile switch. Used when `vtol_transition_to_fw_min_airspeed_cm_s = 0`. If airspeed is unavailable, timer-based fallback (`mixer_switch_trans_timer`) is used.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 10000 |
+
+---
+
 ### mixer_switch_trans_timer
 
 If switch another mixer_profile is scheduled by mixer_automated_switch or mixer_automated_switch. Activate Mixertransion motor/servo mixing for this many decisecond(0.1s) before the actual mixer_profile switch.
@@ -4626,6 +4646,40 @@ Defines how Pitch/Roll input from RC receiver affects flight in POSHOLD mode: AT
 
 ---
 
+### nav_vtol_mission_transition_min_altitude_cm
+
+Minimum altitude [cm] required to start a mission-authorized VTOL transition. Set to 0 to disable the minimum-altitude check.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 50000 |
+
+---
+
+### nav_vtol_mission_transition_track_distance_cm
+
+Straight-line target distance [cm] used during mission-authorized MC->FW transition guidance. This controls how far ahead the transition heading target is placed.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 100000 | 1000 | 500000 |
+
+---
+
+### nav_vtol_mission_transition_user_action
+
+Selects which waypoint USER action bit (`USER1`..`USER4`) is used as mission VTOL target selector. OFF disables this feature. On navigable mission waypoints: selected USER bit = 1 requests FW profile, selected USER bit = 0 requests MC profile. This is an absolute per-waypoint target-state selector and relies on existing mixer profile switching infrastructure (two profiles and valid MIXER PROFILE 2 mode activation condition).
+
+| Allowed Values |  |
+| --- | --- |
+| OFF | Default |
+| USER1 |  |
+| USER2 |  |
+| USER3 |  |
+| USER4 |  |
+
+---
+
 ### nav_wp_enforce_altitude
 
 Forces craft to achieve the set WP altitude as well as position before moving to next WP. Position is held and altitude adjusted as required before moving on. 0 = disabled, otherwise setting defines altitude capture tolerance [cm], e.g. 100 means required altitude is achieved when within 100cm of waypoint altitude setting.
@@ -6974,6 +7028,86 @@ Warning voltage per cell, this triggers battery-warning alarms, in 0.01V units,
 
 ---
 
+### vtol_transition_airspeed_timeout_ms
+
+Safety timeout [ms] for airspeed-controlled transitions. If non-zero and required airspeed condition is not met in time, transition aborts instead of force-completing.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 60000 |
+
+---
+
+### vtol_transition_dynamic_mixer
+
+Enables dynamic VTOL transition progress/scaling controller shared by mission-authorized and manual MIXER TRANSITION paths.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
+### vtol_transition_fw_authority_start_percent
+
+Initial fixed-wing authority scale at transition start, in percent. Used only when `vtol_transition_dynamic_mixer` is ON.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 100 | 0 | 100 |
+
+---
+
+### vtol_transition_lift_end_percent
+
+Target vertical-lift throttle scale at transition end, in percent. Used only when `vtol_transition_dynamic_mixer` is ON.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 100 | 0 | 100 |
+
+---
+
+### vtol_transition_mc_authority_end_percent
+
+Target multicopter stabilization authority scale at transition end, in percent. Used only when `vtol_transition_dynamic_mixer` is ON.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 100 | 0 | 100 |
+
+---
+
+### vtol_transition_scale_ramp_time_ms
+
+Optional dynamic scaling ramp duration [ms]. When > 0 and `vtol_transition_dynamic_mixer` is ON, pusher/lift/authority scaling uses this timer instead of transition completion progress. Set to 0 to keep legacy progress-coupled scaling behavior.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 60000 |
+
+---
+
+### vtol_transition_to_fw_min_airspeed_cm_s
+
+Minimum pitot airspeed [cm/s] required to complete MC->FW transition when airspeed is healthy and available. Overrides `mixer_switch_trans_airspeed_cm_s` when > 0. If 0, legacy setting is used.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 20000 |
+
+---
+
+### vtol_transition_to_mc_max_airspeed_cm_s
+
+Maximum pitot airspeed [cm/s] allowed to complete FW->MC transition when airspeed is healthy and available. If 0, FW->MC uses timer fallback.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 20000 |
+
+---
+
 ### vtx_band
 
 Configure the VTX band. Bands: 1: A, 2: B, 3: E, 4: F, 5: Race.