implement vtol mission auto transition

docs/MixerProfile.md

@@ -72,6 +72,28 @@ 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.
 
+### 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)
+- `mixer_switch_trans_airspeed_cm_s` (optional, airspeed-based MC->FW switch threshold)
+
+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
+- 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.
+When `mixer_switch_trans_airspeed_cm_s > 0` and valid pitot airspeed is available, automated MC->FW switching uses this airspeed target. If airspeed is unavailable, transition falls back to `mixer_switch_trans_timer`.
+
+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.
+
 ## 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.
 

docs/Navigation.md

@@ -102,6 +102,37 @@ 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.
+- `mixer_switch_trans_airspeed_cm_s` configures MC->FW airspeed threshold for automated profile switching.
+
+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
+- 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 switch point: if valid pitot airspeed is available and `mixer_switch_trans_airspeed_cm_s > 0`, switch to FW occurs at/above the configured airspeed. If airspeed is unavailable, timer-based fallback (`mixer_switch_trans_timer`) is used.
+- 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.
+
 `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).

src/main/fc/settings.yaml

@@ -171,6 +171,9 @@ tables:
   - name: nav_wp_mission_restart
     enum: navMissionRestart_e
     values: ["START", "RESUME", "SWITCH"]
+  - name: nav_wp_user_action
+    enum: navMissionUserAction_e
+    values: ["OFF", "USER1", "USER2", "USER3", "USER4"]
   - name: djiRssiSource
     values: ["RSSI", "CRSF_LQ"]
     enum: djiRssiSource_e
@@ -1277,6 +1280,12 @@ groups:
         field: mixer_config.switchTransitionTimer
         min: 0
         max: 200
+      - name: mixer_switch_trans_airspeed_cm_s
+        description: "Airspeed threshold [cm/s] for MC->FW automated profile switch. If > 0 and valid pitot airspeed is available, transition will switch to FW only after this speed is reached. If airspeed is unavailable, timer-based fallback (`mixer_switch_trans_timer`) is used."
+        default_value: 0
+        field: mixer_config.switchTransitionAirspeed
+        min: 0
+        max: 10000
       - name: tailsitter_orientation_offset
         description: "Apply a 90 deg pitch offset in sensor aliment for tailsitter flying mode"
         default_value: OFF
@@ -2623,6 +2632,23 @@ groups:
         default_value: "RESUME"
         field: general.flags.waypoint_mission_restart
         table: nav_wp_mission_restart
+      - name: nav_vtol_mission_transition_user_action
+        description: "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."
+        default_value: "OFF"
+        field: general.vtol_mission_transition_user_action
+        table: nav_wp_user_action
+      - name: nav_vtol_mission_transition_min_altitude_cm
+        description: "Minimum altitude [cm] required to start a mission-authorized VTOL transition. Set to 0 to disable the minimum-altitude check."
+        default_value: 0
+        field: general.vtol_mission_transition_min_altitude
+        min: 0
+        max: 50000
+      - name: nav_vtol_mission_transition_track_distance_cm
+        description: "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_value: 100000
+        field: general.vtol_mission_transition_track_distance
+        min: 1000
+        max: 500000
       - name: nav_wp_multi_mission_index
         description: "Index of active mission selected from multi mission WP entry loaded in flight controller. Limited to a maximum of 9 missions."
         default_value: 1

src/main/flight/mixer_profile.c

@@ -17,6 +17,7 @@
 #include "flight/failsafe.h"
 #include "navigation/navigation.h"
 #include "navigation/navigation_private.h"
+#include "sensors/pitotmeter.h"
 
 #include "fc/fc_core.h"
 #include "fc/config.h"
@@ -37,7 +38,7 @@ bool isMixerTransitionMixing_requested;
 mixerProfileAT_t mixerProfileAT;
 int nextMixerProfileIndex;
 
-PG_REGISTER_ARRAY_WITH_RESET_FN(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles, PG_MIXER_PROFILE, 1);
+PG_REGISTER_ARRAY_WITH_RESET_FN(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles, PG_MIXER_PROFILE, 2);
 
 void pgResetFn_mixerProfiles(mixerProfile_t *instance)
 {
@@ -53,6 +54,7 @@ void pgResetFn_mixerProfiles(mixerProfile_t *instance)
                          .controlProfileLinking = SETTING_MIXER_CONTROL_PROFILE_LINKING_DEFAULT,
                          .automated_switch = SETTING_MIXER_AUTOMATED_SWITCH_DEFAULT,
                          .switchTransitionTimer =  SETTING_MIXER_SWITCH_TRANS_TIMER_DEFAULT,
+                         .switchTransitionAirspeed = SETTING_MIXER_SWITCH_TRANS_AIRSPEED_CM_S_DEFAULT,
                          .tailsitterOrientationOffset = SETTING_TAILSITTER_ORIENTATION_OFFSET_DEFAULT,
                          .transition_PID_mmix_multiplier_roll = SETTING_TRANSITION_PID_MMIX_MULTIPLIER_ROLL_DEFAULT,
                          .transition_PID_mmix_multiplier_pitch = SETTING_TRANSITION_PID_MMIX_MULTIPLIER_PITCH_DEFAULT,
@@ -112,6 +114,25 @@ void setMixerProfileAT(void)
     mixerProfileAT.transitionTransEndTime = mixerProfileAT.transitionStartTime + (timeMs_t)currentMixerConfig.switchTransitionTimer * 100;
 }
 
+static bool requestTransitionsToFixedWing(const mixerProfileATRequest_e required_action)
+{
+    return required_action == MIXERAT_REQUEST_RTH || required_action == MIXERAT_REQUEST_MISSION_TO_FW;
+}
+
+static bool mixerATReadyForHotSwitch(const mixerProfileATRequest_e required_action)
+{
+#ifdef USE_PITOT
+    if (requestTransitionsToFixedWing(required_action) &&
+        currentMixerConfig.switchTransitionAirspeed > 0 &&
+        pitotValidForAirspeed()) {
+        return getAirspeedEstimate() >= currentMixerConfig.switchTransitionAirspeed;
+    }
+#endif
+
+    // Timer remains a fallback when airspeed is not configured/available.
+    return millis() > mixerProfileAT.transitionTransEndTime;
+}
+
 bool platformTypeConfigured(flyingPlatformType_e platformType)
 {   
     if (!isModeActivationConditionPresent(BOXMIXERPROFILE)){
@@ -120,6 +141,18 @@ bool platformTypeConfigured(flyingPlatformType_e platformType)
     return mixerConfigByIndex(nextMixerProfileIndex)->platformType == platformType;
 }
 
+static bool missionTransitionToMultirotorTypeConfigured(void)
+{
+    if (!isModeActivationConditionPresent(BOXMIXERPROFILE)) {
+        return false;
+    }
+
+    const flyingPlatformType_e nextPlatformType = mixerConfigByIndex(nextMixerProfileIndex)->platformType;
+    return nextPlatformType == PLATFORM_MULTIROTOR ||
+           nextPlatformType == PLATFORM_TRICOPTER ||
+           nextPlatformType == PLATFORM_HELICOPTER;
+}
+
 bool checkMixerATRequired(mixerProfileATRequest_e required_action)
 {
     //return false if mixerAT condition is not required or setting is not valid
@@ -132,17 +165,22 @@ bool checkMixerATRequired(mixerProfileATRequest_e required_action)
         return false;
     }
 
-    if(currentMixerConfig.automated_switch){
-        if ((required_action == MIXERAT_REQUEST_RTH) && STATE(MULTIROTOR))
-        {
-            return true;
-        }
-        if ((required_action == MIXERAT_REQUEST_LAND) && STATE(AIRPLANE))
-        {
-            return true;
-        }
+    switch (required_action) {
+    case MIXERAT_REQUEST_RTH:
+        return currentMixerConfig.automated_switch && STATE(MULTIROTOR) && platformTypeConfigured(PLATFORM_AIRPLANE);
+
+    case MIXERAT_REQUEST_LAND:
+        return currentMixerConfig.automated_switch && STATE(AIRPLANE) && missionTransitionToMultirotorTypeConfigured();
+
+    case MIXERAT_REQUEST_MISSION_TO_FW:
+        return STATE(MULTIROTOR) && platformTypeConfigured(PLATFORM_AIRPLANE);
+
+    case MIXERAT_REQUEST_MISSION_TO_MC:
+        return STATE(AIRPLANE) && missionTransitionToMultirotorTypeConfigured();
+
+    default:
+        return false;
     }
-    return false;
 }
 
 bool mixerATUpdateState(mixerProfileATRequest_e required_action)
@@ -173,7 +211,7 @@ bool mixerATUpdateState(mixerProfileATRequest_e required_action)
             break;
         case MIXERAT_PHASE_TRANSITIONING:
             isMixerTransitionMixing_requested = true;
-            if (millis() > mixerProfileAT.transitionTransEndTime){
+            if (mixerATReadyForHotSwitch(required_action)){
                 isMixerTransitionMixing_requested = false;
                 outputProfileHotSwitch(nextMixerProfileIndex);
                 mixerProfileAT.phase = MIXERAT_PHASE_IDLE;

src/main/flight/mixer_profile.h

@@ -18,6 +18,7 @@ typedef struct mixerConfig_s {
     bool controlProfileLinking;
     bool automated_switch;
     int16_t switchTransitionTimer;
+    uint16_t switchTransitionAirspeed;
     bool tailsitterOrientationOffset;
     int16_t transition_PID_mmix_multiplier_roll;
     int16_t transition_PID_mmix_multiplier_pitch;
@@ -34,6 +35,8 @@ typedef enum {
     MIXERAT_REQUEST_NONE, //no request, stats checking only
     MIXERAT_REQUEST_RTH,
     MIXERAT_REQUEST_LAND,
+    MIXERAT_REQUEST_MISSION_TO_FW,
+    MIXERAT_REQUEST_MISSION_TO_MC,
     MIXERAT_REQUEST_ABORT,
 } mixerProfileATRequest_e;
 
@@ -81,4 +84,4 @@ bool outputProfileHotSwitch(int profile_index);
 bool checkMixerProfileHotSwitchAvalibility(void);
 void activateMixerConfig(void);
 void mixerConfigInit(void);
-void outputProfileUpdateTask(timeUs_t currentTimeUs);
+void outputProfileUpdateTask(timeUs_t currentTimeUs);