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Improve VTOL RTH approach timing and post-transition capture #11871

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Improve VTOL RTH approach timing and post-transition capture #11871

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a36da3e
Improve VTOL RTH approach timing and post-transition capture
mart1npetroff Sep 7, 2026
30bbf76
Fix VTOL RTH transition ownership and manual switch handback
mart1npetroff Sep 7, 2026
84c4598
fix(vtol): allow timer-based tailsitter transitions in both directions
mart1npetroff Oct 18, 2026
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90 changes: 88 additions & 2 deletions docs/VTOL.md
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11 changes: 1 addition & 10 deletions src/main/flight/mixer_profile.c
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Original file line number Diff line number Diff line change
Expand Up @@ -865,14 +865,6 @@ static bool mixerATReadyForHotSwitch(const mixerProfileATRequest_e required_acti
const bool usableAirspeedAvailable =
airspeedThresholdCmS > 0 && hasUsableTransitionAirspeed(&airspeedCmS);

if (isTailSitterManualToMcCapture() && !usableAirspeedAvailable) {
// Timer fallback is acceptable for the established tilt/pusher paths,
// but a tailsitter must not rotate into MC at an unknown airspeed.
mixerProfileAT.usedAirspeed = false;
mixerProfileAT.waitReason = MIXERAT_WAIT_REASON_NO_SPEED;
updateHandoffScalingProgress(currentTimeMs);
return false;
}
const mixerTransitionHotSwitchProgress_t hotSwitchProgress = mixerTransitionEvaluateHotSwitch(
direction,
airspeedThresholdCmS,
Expand Down Expand Up @@ -1135,7 +1127,7 @@ bool mixerATUpdateState(mixerProfileATRequest_e required_action)
completeTransition();
}
return true;
} else if ((mixerProfileAT.usedAirspeed || isTailSitterManualToMcCapture()) &&
} else if (mixerProfileAT.usedAirspeed &&
currentMixerConfig.vtolTransitionAirspeedTimeoutMs > 0 &&
(millis() - mixerProfileAT.transitionStartTime) >= currentMixerConfig.vtolTransitionAirspeedTimeoutMs) {
abortTransition(true, false);
Expand Down Expand Up @@ -1271,7 +1263,6 @@ void outputProfileUpdateTask(timeUs_t currentTimeUs)
navigationProfileSwitchWasOwned,
navigationOwnsProfileSwitch,
mixerProfileModePresent,
mixerAT_inuse,
transitionModeActive,
currentMixerProfileIndex,
requestedProfileIndex);
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4 changes: 2 additions & 2 deletions src/main/flight/mixer_transition_logic.h
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Original file line number Diff line number Diff line change
Expand Up @@ -239,15 +239,15 @@ static inline bool mixerTransitionNavigationHandbackShouldHoldProfile(
bool navigationOwnedProfileSwitchPreviousUpdate,
bool navigationOwnsProfileSwitch,
bool mixerProfileModePresent,
bool autoTransitionActive,
bool transitionModeActive,
int currentProfileIndex,
int requestedProfileIndex)
{
// Capture the ownership edge even if transition outputs are still finishing.
// Waiting for an idle transition would lose this edge on the next update.
return navigationOwnedProfileSwitchPreviousUpdate &&
!navigationOwnsProfileSwitch &&
mixerProfileModePresent &&
!autoTransitionActive &&
(transitionModeActive || currentProfileIndex != requestedProfileIndex);
}

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