iNavFlight · mart1npetroff · May 12, 2026 · May 12, 2026 · May 12, 2026 · May 12, 2026
diff --git a/docs/MixerProfile.md b/docs/MixerProfile.md
diff --git a/docs/Navigation.md b/docs/Navigation.md
@@ -102,6 +102,44 @@ 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).
+- During MC->FW mission transition, iNAV uses a built-in straight run-up target to help the model build speed before switching to fixed-wing.
+- 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`
+  - 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 is `0`), 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
@@ -782,6 +782,7 @@ Defines debug values exposed in debug variables (developer / debugging setting)
 | LULU |  |
 | SBUS2 |  |
 | OSD_REFRESH |  |
+| VTOL_TRANSITION |  |
 
 ---
 
@@ -3201,14 +3202,54 @@ If enabled, control_profile_index will follow mixer_profile index. Set to OFF(de
 
 ### 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.
+Original VTOL transition timer, still used as the backup completion time. If trusted pitot airspeed is not being used, iNAV completes the transition from this timer instead. If `mixer_vtol_transition_scale_ramp_time_ms = 0`, lift motor power, multicopter stabilisation, and fixed-wing control handoff also fall back to this timing.
 
 | Default | Min | Max |
 | --- | --- | --- |
 | 0 | 0 | 200 |
 
 ---
 
+### mixer_vtol_manualswitch_autotransition_controller
+
+Makes `MIXER TRANSITION` start one automatic VTOL transition each time the switch moves from OFF to ON, when not in waypoint mission. Turn this ON in both mixer profiles if you want the same behavior in both directions. OFF keeps the older manual switch behavior.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
+### mixer_vtol_transition_airspeed_timeout_ms
+
+Maximum wait time [ms] for the required pitot airspeed during an airspeed-controlled transition. This timer does not complete the transition; it only aborts it if the target airspeed is still not reached in time. If pitot becomes unavailable, iNAV falls back to `mixer_switch_trans_timer` instead. Set to 0 to disable.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 60000 |
+
+---
+
+### mixer_vtol_transition_dynamic_mixer
+
+Turns on smooth VTOL transition power changes. This affects forward motor ramp-up, lift motor power reduction, multicopter stabilisation reduction, and fixed-wing control fade-in. Used by both manual `MIXER TRANSITION` and mission-requested VTOL transitions.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
+### mixer_vtol_transition_scale_ramp_time_ms
+
+When smooth VTOL transition power changes are ON, this always controls the MC->FW forward motor ramp. `0` gives full forward-motor power immediately. This timer does not decide when the transition is complete. For lift motor power, multicopter stabilisation, and fixed-wing control handoff, trusted pitot airspeed still controls the change while pitot is usable; this timer is only their backup ramp if pitot becomes unavailable.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 60000 |
+
+---
+
 ### 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.
@@ -4626,6 +4667,67 @@ Defines how Pitch/Roll input from RC receiver affects flight in POSHOLD mode: AT
 
 ---
 
+### nav_vtol_mission_transition_min_altitude_cm
+
+Do not start a mission-requested VTOL transition below this altitude [cm]. Set to 0 to disable the altitude check.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 50000 |
+
+---
+
+### nav_vtol_mission_transition_user_action
+
+Chooses which waypoint USER flag (`USER1`..`USER4`) tells iNAV which flight mode to use at each navigable waypoint. Selected USER flag ON means fixed-wing. Selected USER flag OFF means multicopter. OFF disables this feature. Requires two mixer profiles and a working `MIXER PROFILE 2` mode setup.
+
+| Allowed Values |  |
+| --- | --- |
+| OFF | Default |
+| USER1 |  |
+| USER2 |  |
+| USER3 |  |
+| USER4 |  |
+
+---
+
+### nav_vtol_transition_fail_action_fw_to_mc
+
+What iNAV should do if FW->MC transition fails. `LOITER` keeps the aircraft near its current position. `FORCE_SWITCH` changes to the other mixer profile immediately even though the normal switch conditions were not met.
+
+| Allowed Values |  |
+| --- | --- |
+| IDLE |  |
+| LOITER | Default |
+| RTH |  |
+| EMERGENCY_LANDING |  |
+| FORCE_SWITCH |  |
+
+---
+
+### nav_vtol_transition_fail_action_mc_to_fw
+
+What iNAV should do if MC->FW transition still fails after the final attempt.
+
+| Allowed Values |  |
+| --- | --- |
+| IDLE | Default |
+| POSH |  |
+| RTH |  |
+| EMERGENCY_LANDING |  |
+
+---
+
+### nav_vtol_transition_retry_on_airspeed_timeout
+
+If ON, iNAV gets one extra MC->FW attempt after an airspeed timeout during mission or RTH. It pauses, yaws around to find the best airspeed direction, then tries once more.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
 ### 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 +7076,66 @@ Warning voltage per cell, this triggers battery-warning alarms, in 0.01V units,
 
 ---
 
+### vtol_fw_to_mc_auto_switch_airspeed_cm_s
+
+Extra low-speed protection for fixed-wing flight [cm/s]. If airspeed falls to this value or lower while in FW, iNAV automatically starts FW->MC. After the switch to MC, iNAV keeps the MC profile until you deliberately command another manual profile change. Used only when `mixer_vtol_manualswitch_autotransition_controller` is ON. Set to 0 to disable.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 20000 |
+
+---
+
+### vtol_transition_fw_authority_start_percent
+
+How much fixed-wing control is available at the start of transition, in percent. `100` gives full fixed-wing control immediately. Lower values bring in fixed-wing control more gently. Used only when `mixer_vtol_transition_dynamic_mixer` is ON.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 100 | 0 | 100 |
+
+---
+
+### vtol_transition_lift_end_percent
+
+How much lift motor power remains at the end of transition, in percent. `100` keeps full lift power. Lower values reduce lift motor power more. Used only when `mixer_vtol_transition_dynamic_mixer` is ON.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 100 | 0 | 100 |
+
+---
+
+### vtol_transition_mc_authority_end_percent
+
+How much multicopter stabilisation remains at the end of transition, in percent. `100` keeps full multicopter stabilisation. Lower values reduce it more. Used only when `mixer_vtol_transition_dynamic_mixer` is ON.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 100 | 0 | 100 |
+
+---
+
+### vtol_transition_to_fw_min_airspeed_cm_s
+
+Minimum pitot airspeed [cm/s] needed before MC->FW transition is considered complete while pitot remains usable. If pitot becomes unavailable, or if this is set to 0, iNAV uses `mixer_switch_trans_timer` instead. If pitot remains usable but this target is still not reached before `mixer_vtol_transition_airspeed_timeout_ms` expires, the transition is aborted.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 20000 |
+
+---
+
+### vtol_transition_to_mc_max_airspeed_cm_s
+
+When slowing down from FW to MC, the transition is considered complete once pitot airspeed falls to this value [cm/s] or lower while pitot remains usable. If pitot becomes unavailable, or if this is set to 0, iNAV uses `mixer_switch_trans_timer` instead. If pitot remains usable but this condition is still not reached before `mixer_vtol_transition_airspeed_timeout_ms` expires, the transition is aborted.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 20000 |
+
+---
+
 ### vtx_band
 
 Configure the VTX band. Bands: 1: A, 2: B, 3: E, 4: F, 5: Race.