iNavFlight · DzikuVx · Sep 28, 2023 · Nov 5, 2022 · Nov 6, 2022 · Nov 7, 2022
diff --git a/.gitignore b/.gitignore
@@ -15,11 +15,12 @@ startup_stm32f10x_md_gcc.s
 #.vscode/
 cov-int*
 /build/
+/build_SITL/
 /obj/
 /patches/
 /tools/
 /downloads/
-/debug/
+/debug/
 /release/
 
 # script-generated files

diff --git a/docs/MixerProfile.md b/docs/MixerProfile.md
@@ -0,0 +1,150 @@
+# MixerProfile
+
+A MixerProfile is a set of motor mixer, servo-mixer and platform type configuration settings to enable VTOL transitions.
+
+Currently two profiles are supported on targets other than F411 and F722 (due to resource constraints on these FC). i.e VTOL transition is not available on  F411 and F722 targets.
+
+By default, switching between profiles requires reboot to take affect. However, when all conditions are met, and a suitable [configuration](#configuration) has been applied, `mixer_profile` also  allows in-flight profile [switching](#rc-mode-settings) to allow things like VTOL operation. This is the recommended operating mode.
+
+Please note that this is an emerging / experimental capability that will require some effort by the pilot to implement.
+
+## Setup for VTOL
+
+- For mixer profile switching it is necessary to keep motor and servo PWM mapping consistent between Fixed-Wing (FW) and Multi-rotor (MR) profiles
+- Traditionally, FW and MR have had different enumerations to define the PWM mappings. For VTOL operation it is necessary to set the `timer_output_mode` overrides to allow a consistent enumeration and thus mapping between MR and FW modes.
+- A VTOL specific FC target was required in the early stage of the development, but thanks to `timer_output_mode` overrides, It is not needed anymore.
+- In operation, it is necessary to set the `mixer_profile` and the `pid_profile` separately and to set a [RC mode](#rc-mode-settings) to switch between them.
+
+## Configuration
+### Timer overrides
+![Alt text](Screenshots/timer_outputs.png)
+
+Set Output mode to `AUTO`. And set all servo/motor Timer outputs  to `MOTORS` or `SERVOS`. This will result in a consistent mapping between MR and FW modes.
+A Sanity check on timer overrides settings could potentially block Profile Switch for safety reasons.
+
+For SITL builds, is not necessary to set timer overrides.
+
+### Profile Switch
+
+Setup the FW mode and MR mode separately in two different mixer profiles:
+
+In this example, FW mode is `mixer_profile` 1 and MR mode is `mixer_profile` 2.
+
+Currently, the INAV Configurator does not fully support `mixer_profile`, so some of the settings have to be done in CLI.
+
+Add `set mixer_pid_profile_linking = ON` in order to enable `pid_profile` auto handling. It will change the `pid profile` index according to the `mixer_profile` index on FC boot and allow `mixer_profile` hot switching (this is recommended usage).
+
+The following 2 `mixer_profile` sections are added in the CLI:
+
+```
+#switch to mixer_profile by cli
+mixer_profile 1
+
+set platform_type = AIRPLANE
+set model_preview_type = 26
+# motor stop feature have been moved to here
+set motorstop_on_low = ON
+# enable pid_profile auto handling (recommended).
+set mixer_pid_profile_linking = ON
+save
+```
+Then finish the aeroplane setting on mixer_profile 1
+
+```
+mixer_profile 2
+
+set platform_type = TRICOPTER
+set model_preview_type = 1
+# also enable pid_profile auto handling
+set mixer_pid_profile_linking = ON
+save
+```
+Then finish the multi-rotor setting on `mixer_profile` 2.
+
+Note that default profile is profile `1`.
+
+You can use `MAX` servo input to set a fixed input for the tilting servo. Speed setting for `MAX` input is available in the CLI.
+
+It is recommended to have some amount of control surface (elevon / elevator) mapped for stabilization even in MR mode to get improved authority when airspeed is high.
+
+**Double check all settings in CLI with the `diff all` command**; make sure you have set the correct settings. Also check what will change with `mixer_profile`. For example servo output min / max range will not change. But `smix` and `mmix` will change.
+
+### Mixer Transition input
+
+Typically, 'transition input' will be useful in MR mode to gain airspeed.
+Both the servo mixer and motor mixer can accept transition mode as an input.
+The associated motor or servo will then move accordingly when transition mode is activated.
+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
+
+#### Servo
+
+38 is the input source for transition input; use this to tilt motor to gain airspeed.
+
+Example: Increase servo 1 output by +45 with speed of 150 when transition mode is activated for tilted motor setup:
+
+```
+# rule no; servo index; input source; rate; speed; activate logic function number
+smix 6 1 38 45 150 -1
+```
+Please note there will be a time window that tilting motors is providing up lift but rear motor isn't. Result in a sudden pitch raise on the entering of the mode. More forward tilting servo position on transition input(you can use 'speed' in servo rules to slowly move to this position), A faster tilting servo speed on `MAX` servo input will reduce the time window. OR lower the throttle on the entering of the FW mode to mitigate the effect.
+
+#### Motor
+
+The default `mmix` throttle value is 0.0, It will not show in `diff` command when throttle value is 0.0 (unused); this causes the motor to stop.
+
+- 0.0<throttle<=1.0 : normal mapping
+- -1.0<throttle<=0.0 : motor stop, default value 0
+- -2.0<throttle<-1.0 : spin regardless of the radio's throttle position at speed `abs(throttle)-1` when Mixer Transition is activated.
+
+Example: This will spin motor number 5 (counting from 1) at 20%, in transition mode only, to gain speed for a "4 rotor 1 pusher" setup:
+
+```
+# motor number; throttle; roll; pitch; yaw
+mmix 4 -1.200  0.000  0.000  0.000
+```
+
+### RC mode settings
+
+It is recommend that the pilot uses a RC mode switch to activate modes or switch profiles.
+Profile files Switching is not available until the runtime sensor calibration is done. Switching is NOT available when navigation mode is activate or position controller is activate, including altitude hold.
+
+`mixer_profile` 1 will be used as default, `mixer_profile` 2 will be used when the `MIXER PROFILE 2` mode box is activated. Once successfully set, you can see the profiles / model preview etc. will switch accordingly when you view the relevant INAV Configurator tabs. Checking these tabs in the INAV Configurator will help make the setup easier.
+
+Set `MIXER TRANSITION` accordingly when you want to use `MIXER TRANSITION` input for motors and servos, Here is sample of using the `MIXER TRANSITION` mode:
+
+![Alt text](Screenshots/mixer_profile.png)
+
+|  1000~1300 |  1300~1700  | 1700~2000 |
+| :-- | :-- | :-- |
+| FW(profile1) with transition off |  MC(profile2) with transition on  | MC(profile2) with transition off |
+
+It is also possible to set it as 4 state switch by adding FW(profile1) with transition on.
+
+### Automated Transition
+This feature is mainly for RTH in a failsafe event. When set properly, model will use the FW mode to fly home efficiently, And land in the MC mode for easier landing.
+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, for example, 50 ds. Finally set `mixer_automated_switch` to `ON` in mixer_profile for FW mode to let the model land in MC mode.
+```
+mixer_profile 2
+set mixer_automated_switch = ON
+set mixer_switch_trans_timer = 50
+mixer_profile 1
+set mixer_automated_switch = ON
+save
+```
+
+`ON` for a mixer_profile\`s `mixer_automated_switch` means to schedule a Automated Transition when RTH head home(applies for MC mixer_profile) or RTH Land(applies for FW mixer_profile) is requested by navigation controller.
+
+When `mixer_automated_switch`:`OFF` is set for all mixer_profiles(defaults). Model will not perform automated transition at all.
+
+
+## Happy flying
+
+Remember that this is currently an emerging capability:
+
+* Test every thing on bench first.
+* Remove the props and try `MIXER PROFILE 2`, `MIXER TRANSITION` RC modes while arming.
+* Then try MR or FW mode separately see if there are any problems.
+* Try it somewhere you can recover your model in case of fail-safe. Fail-safe behavior is unknown at the current stage of development.
+* Use the INAV Discord for help and setup questions; use the Github Issues for reporting bugs and unexpected behaviors. For reporting on Github, a CLI `diff all`, a DVR and a Blackbox log of the incident will assist investigation.
diff --git a/docs/Screenshots/mixer_profile.png b/docs/Screenshots/mixer_profile.png
diff --git a/docs/Screenshots/timer_outputs.png b/docs/Screenshots/timer_outputs.png
diff --git a/docs/Settings.md b/docs/Settings.md
@@ -2552,6 +2552,36 @@ This is the PWM value sent to ESCs when they are not armed. If ESCs beep slowly
 
 ---
 
+### mixer_automated_switch
+
+If set to on, This mixer_profile will try to switch to another mixer_profile when 1.RTH heading home is requested and distance to home is lager than 3*nav_fw_loiter_radius on mixer_profile is a MULTIROTOR or TRICOPTER platform_type. 2. RTH landing is requested on this mixer_profile is a AIRPLANE platform_type
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
+### mixer_pid_profile_linking
+
+If enabled, pid profile_index will follow mixer_profile index. Set to OFF(default) if you want to handle PID profile by your self. Recommend to set to ON on all mixer_profiles to let the mixer_profile handle the PID profile switching on a VTOL or mixed platform type setup.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
+### 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.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 200 |
+
+---
+
 ### mode_range_logic_operator
 
 Control how Mode selection works in flight modes. If you example have Angle mode configured on two different Aux channels, this controls if you need both activated ( AND ) or if you only need one activated ( OR ) to active angle mode.
@@ -2612,6 +2642,16 @@ Output frequency (in Hz) for motor pins.  Applies only to brushed motors.
 
 ---
 
+### motorstop_on_low
+
+If enabled, motor will stop when throttle is low on this mixer_profile
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
 ### msp_override_channels
 
 Mask of RX channels that may be overridden by MSP `SET_RAW_RC`. Note that this requires custom firmware with `USE_RX_MSP` and `USE_MSP_RC_OVERRIDE` compile options and the `MSP RC Override` flight mode.

diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
@@ -327,6 +327,8 @@ main_sources(COMMON_SRC
     flight/rth_estimator.h
     flight/servos.c
     flight/servos.h
+    flight/mixer_profile.c
+    flight/mixer_profile.h
     flight/wind_estimator.c
     flight/wind_estimator.h
     flight/gyroanalyse.c

diff --git a/src/main/cms/cms_menu_mixer_servo.c b/src/main/cms/cms_menu_mixer_servo.c
@@ -31,6 +31,7 @@
 
 #include "build/version.h"
 
+#include "flight/mixer_profile.h"
 #include "flight/mixer.h"
 #include "flight/servos.h"
 
@@ -40,6 +41,7 @@
 
 #include "fc/runtime_config.h"
 #include "fc/settings.h"
+#include "fc/config.h"
 
 static uint8_t currentMotorMixerIndex = 0;
 static uint8_t tmpcurrentMotorMixerIndex = 1;

diff --git a/src/main/config/parameter_group_ids.h b/src/main/config/parameter_group_ids.h
@@ -36,8 +36,8 @@
 //#define PG_TRANSPONDER_CONFIG 17
 #define PG_SYSTEM_CONFIG 18
 #define PG_FEATURE_CONFIG 19
-#define PG_MIXER_CONFIG 20
-#define PG_SERVO_MIXER 21
+#define PG_MIXER_PROFILE 20
+// #define PG_SERVO_MIXER 21
 #define PG_IMU_CONFIG 22
 //#define PG_PROFILE_SELECTION 23
 #define PG_RX_CONFIG 24

diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
@@ -228,6 +228,20 @@ static void timerHardwareOverride(timerHardware_t * timer) {
     }
 }
 
+bool check_pwm_assigned_to_motor_or_servo(void)
+{  
+    // Check TIM_USE_FW_* and TIM_USE_MC_* is consistent, If so, return true, means the pwm mapping will remain same between FW and MC
+    bool pwm_assigned_to_motor_or_servo = true;
+    for (int idx = 0; idx < timerHardwareCount; idx++) {
+        timerHardware_t *timHw = &timerHardware[idx];
+        if (timHw->usageFlags & (TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO)) {
+            pwm_assigned_to_motor_or_servo &= (timHw->usageFlags == TIM_USE_VTOL_SERVO) | (timHw->usageFlags == TIM_USE_VTOL_MOTOR);
+        }
+    }
+    return pwm_assigned_to_motor_or_servo;
+}
+
+
 bool pwmHasMotorOnTimer(timMotorServoHardware_t * timOutputs, HAL_Timer_t *tim)
 {
     for (int i = 0; i < timOutputs->maxTimMotorCount; ++i) {
@@ -349,7 +363,7 @@ void pwmBuildTimerOutputList(timMotorServoHardware_t * timOutputs, bool isMixerU
         }
 
         // Determine if timer belongs to motor/servo
-        if (mixerConfig()->platformType == PLATFORM_MULTIROTOR || mixerConfig()->platformType == PLATFORM_TRICOPTER) {
+        if (currentMixerConfig.platformType == PLATFORM_MULTIROTOR || currentMixerConfig.platformType == PLATFORM_TRICOPTER) {
             // Multicopter
 
             // Make sure first motorCount outputs get assigned to motor

diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
@@ -19,6 +19,7 @@
 
 #include "drivers/io_types.h"
 #include "flight/mixer.h"
+#include "flight/mixer_profile.h"
 #include "flight/servos.h"
 
 #if defined(TARGET_MOTOR_COUNT)
@@ -72,6 +73,7 @@ typedef struct {
 } motorProtocolProperties_t;
 
 bool pwmMotorAndServoInit(void);
+bool check_pwm_assigned_to_motor_or_servo(void);
 const motorProtocolProperties_t * getMotorProtocolProperties(motorPwmProtocolTypes_e proto);
 pwmInitError_e getPwmInitError(void);
 const char * getPwmInitErrorMessage(void);
diff --git a/src/main/drivers/timer.h b/src/main/drivers/timer.h
@@ -115,6 +115,8 @@ typedef enum {
     TIM_USE_MC_CHNFW        = (1 << 4),     // Deprecated and not used after removal of CHANNEL_FORWARDING feature
     TIM_USE_FW_MOTOR        = (1 << 5),
     TIM_USE_FW_SERVO        = (1 << 6),
+    TIM_USE_VTOL_SERVO      = (TIM_USE_FW_SERVO | TIM_USE_MC_SERVO),
+    TIM_USE_VTOL_MOTOR      = (TIM_USE_FW_MOTOR | TIM_USE_MC_MOTOR),
     TIM_USE_LED             = (1 << 24),
     TIM_USE_BEEPER          = (1 << 25),
 } timerUsageFlag_e;