iNavFlight · mart1npetroff · May 12, 2026 · May 12, 2026 · May 12, 2026 · May 12, 2026
diff --git a/docs/ADSB.md b/docs/ADSB.md
@@ -64,47 +64,6 @@ AT+SETTINGS=SAVE
 * in INAV configurator ports TAB set telemetry MAVLINK, and baudrate 115200
 * https://pantsforbirds.com/adsbee-1090/quick-start/
 
-<<<<<<< HEAD
----
-
----
-
-## Alert and Warning
-The ADS-B warning/alert system supports two operating modes, controlled by the parameter osd_adsb_calculation_use_cpa (ON or OFF).
-
----
-
-### ADS-B Warning and Alert Messages (CPA Mode OFF)
-The ADS-B warning/alert system supports two operating modes, controlled by the parameter **osd_adsb_calculation_use_cpa** (ON or OFF).
-
-When **osd_adsb_calculation_use_cpa = OFF**, the system evaluates only the **current distance between the aircraft and the UAV**. The aircraft with the **shortest distance** is always selected for monitoring.
-
-- If the aircraft enters the **warning zone** (`adsb_distance_warning`), the corresponding **OSD element is displayed**.
-- If the aircraft enters the **alert zone** (`adsb_distance_alert`), the **OSD element starts blinking**, indicating a higher-priority alert.
-
-This mode therefore provides a simple proximity-based warning determined purely by real-time distance.
-
----
-
-### ADS-B Warning and Alert Messages (CPA Mode ON)
-
-When **osd_adsb_calculation_use_cpa = ON**, the system evaluates aircraft using the **Closest Point of Approach (CPA)** and predicted trajectories, not only the current distance.
-
-1. **Aircraft already inside the alert zone**  
-   If one or more aircraft are currently inside the **alert zone** (`adsb_distance_alert`), the **closest aircraft** to the UAV is selected and the **OSD element blinks**.
-
-2. **Aircraft in the warning zone, none predicted to enter the alert zone**  
-   If aircraft are present in the **warning zone** (`adsb_distance_warning`), but none of them are predicted to enter the **alert zone** (their CPA distance is greater than `adsb_distance_alert`), the **closest aircraft to the UAV** is selected and the **OSD element remains steady** (no blinking).
-
-3. **Aircraft in the warning zone, one predicted to enter the alert zone**  
-   If at least one aircraft in the **warning zone** is predicted to enter the **alert zone**, that aircraft is selected and the **OSD element blinks**.
-
-4. **Aircraft in the warning zone, multiple predicted to enter the alert zone**  
-   If multiple aircraft are predicted to enter the **alert zone**, the system selects the aircraft that will **reach the alert zone first**, and the **OSD element blinks**.
-
-![ADSB CPA_ON](assets/images/adsb-CPA-on.png)
-
-
 ## SoftRF settings
 SoftRF supports only MAVLink version 1.
 ```
@@ -150,4 +109,3 @@ When **osd_adsb_calculation_use_cpa = ON**, the system evaluates aircraft using
    If multiple aircraft are predicted to enter the **alert zone**, the system selects the aircraft that will **reach the alert zone first**, and the **OSD element blinks**.
 
 ![ADSB CPA_ON](assets/images/adsb-CPA-on.png)
->>>>>>> upstream/release/9.1
diff --git a/docs/MixerProfile.md b/docs/MixerProfile.md
diff --git a/docs/Navigation.md b/docs/Navigation.md
@@ -102,6 +102,46 @@ Parameters:
 
   * `<flag>` - Last waypoint must have `flag` set to 165 (0xA5).
 
+### Mission VTOL transition using existing User Actions
+
+Mission VTOL transition can be requested.
+This is available only on targets with more than 512 KB flash, compiled with `USE_AUTO_TRANSITION`.
+Targets with 512 KB flash do not include these mission VTOL transition settings.
+
+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
@@ -794,6 +794,7 @@ Defines debug values exposed in debug variables (developer / debugging setting)
 | LULU |  |
 | SBUS2 |  |
 | OSD_REFRESH |  |
+| VTOL_TRANSITION |  |
 
 ---
 
@@ -3211,14 +3212,54 @@ 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. With smooth VTOL transition power changes ON, lift motor power, multicopter stabilisation, and fixed-wing control handoff also fall back to this timing whenever trusted pitot is not usable.
 
 | 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. Available only on targets with more than 512 KB flash.
+
+| 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. Available only on targets with more than 512 KB flash.
+
+| 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. Available only on targets with more than 512 KB flash.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
+### mixer_vtol_transition_scale_ramp_time_ms
+
+When smooth VTOL transition power changes are ON, this controls motor ramp-in time only. In MC->FW it ramps the forward motor from idle to full target power. In FW->MC it ramps the lift motors from their configured minimum back to full power. `0` applies those motor-power changes immediately. This timer does not decide when the transition completes and it does not control the multicopter/fixed-wing control handoff. Handoff still follows trusted pitot airspeed when pitot is usable, otherwise `mixer_switch_trans_timer`. Available only on targets with more than 512 KB flash.
+
+| 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.
@@ -4636,6 +4677,67 @@ 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. Available only on targets with more than 512 KB flash.
+
+| 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, a working `MIXER PROFILE 2` mode setup, and a target with more than 512 KB flash.
+
+| 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. Available only on targets with more than 512 KB flash.
+
+| 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. Available only on targets with more than 512 KB flash.
+
+| 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. Available only on targets with more than 512 KB flash.
+
+| 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.
@@ -6996,6 +7098,66 @@ 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. Available only on targets with more than 512 KB flash.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 20000 |
+
+---
+
+### vtol_transition_fw_authority_min_percent
+
+Lowest fixed-wing stabilisation used during transition, in percent. In MC->FW, fixed-wing stabilisation starts from this value and rises to full strength. In FW->MC, it fades down from full strength to this value. With `INPUT_AUTOTRANSITION_TARGET_STABILIZED_*` rules configured in the MC mixer profile, this same setting scales their servo authority during MC->FW and scales down the matching FW servo stabilisation during FW->MC. `100` keeps full fixed-wing stabilisation through the whole transition. Used only when `mixer_vtol_transition_dynamic_mixer` is ON. Available only on targets with more than 512 KB flash.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 100 | 0 | 100 |
+
+---
+
+### vtol_transition_lift_min_percent
+
+Lowest lift motor power used during transition, in percent. In MC->FW, lift power fades down to this value. In FW->MC, lift power starts from this value and rises back to full power. `100` keeps full lift power through the whole transition. Used only when `mixer_vtol_transition_dynamic_mixer` is ON. Available only on targets with more than 512 KB flash.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 100 | 0 | 100 |
+
+---
+
+### vtol_transition_mc_authority_min_percent
+
+Lowest multicopter stabilisation used during transition, in percent. In MC->FW, multicopter stabilisation fades down to this value. In FW->MC, it starts from this value and rises back to full stabilisation. `100` keeps full multicopter stabilisation through the whole transition. Used only when `mixer_vtol_transition_dynamic_mixer` is ON. Available only on targets with more than 512 KB flash.
+
+| 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. Available only on targets with more than 512 KB flash.
+
+| 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. Available only on targets with more than 512 KB flash.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 20000 |
+
+---
+
 ### vtx_band
 
 Configure the VTX band. Bands: 1: A, 2: B, 3: E, 4: F, 5: Race.