По-здраво: code latch за “manual transition session active” до TRANSITION switch OFF edge, за да не сменяме semantics mid-session.

Author: mart1npetroff

docs/MixerProfile.md

@@ -31,6 +31,7 @@ The use of Transition Mode is recommended to enable further features and future
 - If switched OFF before hot-switch completes, the manual transition request is aborted.
 
 This edge-triggered behavior is enabled by `mixer_vtol_manualswitch_autotransition_controller`.
+Set `mixer_vtol_manualswitch_autotransition_controller = ON` in both mixer profiles (MC and FW) used for switching to keep manual transition semantics consistent after profile hot-switch.
 When `mixer_vtol_manualswitch_autotransition_controller = OFF`, manual transition keeps legacy behavior.
 With manual auto-transition enabled, Active Modes `MIXER TRANSITION` now indicates that the internal transition controller/mixing is actually active, not merely that the RC `MIXER TRANSITION` switch is active.
 Active Modes `MIXER PROFILE 2` indicates the currently active mixer profile.
@@ -44,6 +45,7 @@ Recommended switch topology (explicit):
   - Pos1 = MC (`MIXER PROFILE 2` OFF, `MIXER TRANSITION` OFF)
   - Pos2 = Transition trigger (`MIXER PROFILE 2` OFF, `MIXER TRANSITION` ON)
   - Pos3 = FW (`MIXER PROFILE 2` ON, `MIXER TRANSITION` OFF)
+- Keep `mixer_vtol_manualswitch_autotransition_controller` ON in both profiles used by this mapping.
 - Avoid overlapping FW selection and transition trigger in the same position.
 - Avoid 2-position setups where one position activates both `MIXER PROFILE 2` and `MIXER TRANSITION`.
 - Overlapping mode activation can produce order-dependent behavior (direct profile switch path vs transition-controller path), which is unpredictable and not recommended.

docs/Settings.md

@@ -3222,7 +3222,7 @@ If switch another mixer_profile is scheduled by mixer_automated_switch or mixer_
 
 ### mixer_vtol_manualswitch_autotransition_controller
 
-Enables edge-triggered manual VTOL transition controller for `MIXER TRANSITION` when not in waypoint mission. OFF keeps legacy manual transition behavior.
+Enables edge-triggered manual VTOL transition controller for `MIXER TRANSITION` when not in waypoint mission. OFF keeps legacy manual transition behavior. For consistent manual transition semantics, enable this in both mixer profiles.
 
 | Default | Min | Max |
 | --- | --- | --- |

docs/VTOL.md

@@ -307,6 +307,7 @@ This keeps one safety boundary for profile hot-switching and avoids separate tra
 Intent: this does not replace legacy manual behavior. Legacy remains available and selectable.
 
 With `mixer_vtol_manualswitch_autotransition_controller = ON`:
+- Enable this setting in both mixer profiles (MC and FW) for consistent edge-triggered behavior across profile hot-switches.
 - `MIXER TRANSITION` acts as an edge-triggered request.
 - A rising edge starts one transition.
 - Transition then runs autonomously to completion.
@@ -331,6 +332,7 @@ Important RC mapping constraint:
   - Pos1 = MC (`MIXER PROFILE 2` OFF, `MIXER TRANSITION` OFF)
   - Pos2 = Transition trigger (`MIXER PROFILE 2` OFF, `MIXER TRANSITION` ON)
   - Pos3 = FW (`MIXER PROFILE 2` ON, `MIXER TRANSITION` OFF)
+- Keep `mixer_vtol_manualswitch_autotransition_controller` ON in both profiles used by this mapping.
 - Do not overlap/merge FW selection and transition trigger in the same switch position.
 - Do not use a 2-position mapping where one position enables both `MIXER PROFILE 2` and `MIXER TRANSITION`.
 - Mixing these mode conditions can cause race/order-dependent behavior (direct profile switch versus transition state machine), which is unpredictable in flight.

src/main/fc/settings.yaml

@@ -1298,7 +1298,7 @@ groups:
         field: mixer_config.vtolTransitionDynamicMixer
         type: bool
       - name: mixer_vtol_manualswitch_autotransition_controller
-        description: "Enables edge-triggered manual VTOL transition controller for `MIXER TRANSITION` when not in waypoint mission. OFF keeps legacy manual transition behavior."
+        description: "Enables edge-triggered manual VTOL transition controller for `MIXER TRANSITION` when not in waypoint mission. OFF keeps legacy manual transition behavior. For consistent manual transition semantics, enable this in both mixer profiles."
         default_value: OFF
         field: mixer_config.manualVtolTransitionController
         type: bool

src/main/flight/mixer_profile.c

@@ -42,6 +42,7 @@ mixerProfileAT_t mixerProfileAT;
 int nextMixerProfileIndex;
 static bool manualTransitionModeWasActive;
 static bool manualTransitionReadyForEdge = true;
+static bool manualTransitionSessionLatched;
 
 PG_REGISTER_ARRAY_WITH_RESET_FN(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles, PG_MIXER_PROFILE, 3);
 
@@ -470,19 +471,29 @@ void outputProfileUpdateTask(timeUs_t currentTimeUs)
     bool mixerAT_inuse = mixerATIsActive();
     const bool transitionModeActive = IS_RC_MODE_ACTIVE(BOXMIXERTRANSITION);
     const bool transitionModeRisingEdge = transitionModeActive && !manualTransitionModeWasActive;
+    const bool transitionModeFallingEdge = !transitionModeActive && manualTransitionModeWasActive;
     const bool manualTransitionAllowed = (posControl.navState == NAV_STATE_IDLE) ||
                                          (posControl.navState == NAV_STATE_ALTHOLD_IN_PROGRESS);
     const bool missionActive = (navGetCurrentStateFlags() & NAV_AUTO_WP) != 0;
     const bool manualControllerConfigured = currentMixerConfig.manualVtolTransitionController && !missionActive;
-    bool manualControllerEnabled = manualControllerConfigured;
+    bool manualControllerEnabled = manualControllerConfigured || manualTransitionSessionLatched;
+
+    if (manualControllerConfigured && transitionModeRisingEdge) {
+        manualTransitionSessionLatched = true;
+    }
+
+    if (transitionModeFallingEdge) {
+        manualTransitionSessionLatched = false;
+    }
 
     if (mixerAT_inuse && (!ARMING_FLAG(ARMED) || FLIGHT_MODE(FAILSAFE_MODE) || areSensorsCalibrating())) {
         abortTransition(false);
+        manualTransitionSessionLatched = false;
         mixerAT_inuse = false;
     }
 
     // For manual auto-transition control, suppress direct profile hotswitch while transition trigger is active.
-    const bool suppressDirectProfileSwitch = manualControllerConfigured && transitionModeActive;
+    const bool suppressDirectProfileSwitch = manualControllerEnabled && transitionModeActive;
     if (!FLIGHT_MODE(FAILSAFE_MODE) && !mixerAT_inuse && !suppressDirectProfileSwitch)
     {
         if (isModeActivationConditionPresent(BOXMIXERPROFILE)){
@@ -491,7 +502,7 @@ void outputProfileUpdateTask(timeUs_t currentTimeUs)
     }
 
     // Recompute after a potential direct profile hot-switch because this flag is per-mixer-profile.
-    manualControllerEnabled = currentMixerConfig.manualVtolTransitionController && !missionActive;
+    manualControllerEnabled = (currentMixerConfig.manualVtolTransitionController && !missionActive) || manualTransitionSessionLatched;
 
     if (!manualControllerEnabled) {
         // Backward-compatible manual path: level-controlled transition mixing request.
@@ -504,6 +515,7 @@ void outputProfileUpdateTask(timeUs_t currentTimeUs)
         manualTransitionReadyForEdge = true;
     } else {
         if (!transitionModeActive) {
+            manualTransitionSessionLatched = false;
             manualTransitionReadyForEdge = true;
             if (!mixerAT_inuse) {
                 isMixerTransitionMixing_requested = false;
@@ -555,7 +567,8 @@ void outputProfileUpdateTask(timeUs_t currentTimeUs)
         (isMixerTransitionMixing_requested ? 1U << 16 : 0U) |
         (FLIGHT_MODE(FAILSAFE_MODE) ? 1U << 17 : 0U) |
         (manualControllerEnabled ? 1U << 18 : 0U) |
-        (IS_RC_MODE_ACTIVE(BOXMIXERPROFILE) ? 1U << 19 : 0U);
+        (IS_RC_MODE_ACTIVE(BOXMIXERPROFILE) ? 1U << 19 : 0U) |
+        (manualTransitionSessionLatched ? 1U << 20 : 0U);
 
     // VTOL transition debug channels (DEBUG_VTOL_TRANSITION):
     // [0] phase, [1] request, [2] packed transition flags, [3] progress x1000,
@@ -631,8 +644,8 @@ bool isMixerTransitionModeReportedActive(void)
         return true;
     }
 
-    // With manual auto-transition enabled, treat the RC box as a trigger/request only.
-    if (currentMixerConfig.manualVtolTransitionController) {
+    // With manual auto-transition enabled (or session latched), treat RC as trigger only.
+    if (currentMixerConfig.manualVtolTransitionController || manualTransitionSessionLatched) {
         return false;
     }