Add options to adjuest motor RPY when transition mode is activate(vtol) by shota3527 · Pull Request #10996 · iNavFlight/inav

shota3527 · 2025-08-05T11:04:17Z

User description

make it able to adjust motor RPY mixing during the transition mode.
intended to solve roll/yaw coupling oscillation in transtion mode on tilting rotor VTOL

PR Type

Enhancement

Description

This description is generated by an AI tool. It may have inaccuracies

Add PID multipliers for VTOL transition mode
Enable independent roll/pitch/yaw axis scaling during transition
Solve roll/yaw coupling oscillations in tilting rotor VTOL
Configure multipliers via settings with -5000 to 5000 range

Diagram Walkthrough

flowchart LR
  A["PID Controller"] --> B["Transition Multipliers"]
  B --> C["Motor Mixer"]
  C --> D["VTOL Motors"]
  E["Settings Config"] --> B

File Walkthrough

Relevant files

Enhancement

mixer.c `Apply transition PID multipliers in mixer` src/main/flight/mixer.c Apply transition PID multipliers to roll/pitch/yaw inputs Scale PID values during mixer transition mode Convert multiplier values from integer to float (divide by 1000)	+5/-0
mixer_profile.h `Add transition multiplier struct fields` src/main/flight/mixer_profile.h Add three new int16_t fields to mixerConfig_s struct Define transition_PID_mmix_multiplier for roll/pitch/yaw axes	+3/-0

Configuration changes

mixer_profile.c `Initialize transition multiplier defaults` src/main/flight/mixer_profile.c Add default values for transition PID multipliers Initialize roll/pitch/yaw multipliers to 1000 (1.0x) Include new settings in mixer profile reset function	+3/-0
settings.yaml `Configure transition multiplier settings` src/main/fc/settings.yaml Define settings for transition_pid_mmix_multiplier_roll/pitch/yaw Set default value 1000 with range -5000 to 5000 Map settings to mixer_config struct fields	+18/-0

Documentation

Settings.md `Document transition multiplier settings` docs/Settings.md Document three new transition PID multiplier settings Specify range -5000 to 5000 with default 1000 Explain 1000 equals 1.0x scaling factor	+30/-0

qodo-code-review · 2025-09-24T03:25:12Z

PR Reviewer Guide 🔍

Here are some key observations to aid the review process:

⏱️ Estimated effort to review: 2 🔵🔵⚪⚪⚪

⚡ Recommended focus areas for review

Possible Overflow/Range

Multiplying PID outputs by up to ±5.0 could exceed expected mixer input ranges and saturate/clamp motor outputs, potentially destabilizing control during transition. Validate downstream limits and scaling.

input[ROLL] = input[ROLL] * (currentMixerConfig.transition_PID_mmix_multiplier_roll / 1000.0f);
input[PITCH] = input[PITCH] * (currentMixerConfig.transition_PID_mmix_multiplier_pitch / 1000.0f);
input[YAW] = input[YAW] * (currentMixerConfig.transition_PID_mmix_multiplier_yaw / 1000.0f);

Sign Inversion Risk

Allowing negative multipliers flips axis sign during transition; confirm this is intended and safe across all mixer types, and ensure no double-inversions elsewhere (e.g., motor direction or yaw conventions).

input[ROLL] = input[ROLL] * (currentMixerConfig.transition_PID_mmix_multiplier_roll / 1000.0f);
input[PITCH] = input[PITCH] * (currentMixerConfig.transition_PID_mmix_multiplier_pitch / 1000.0f);
input[YAW] = input[YAW] * (currentMixerConfig.transition_PID_mmix_multiplier_yaw / 1000.0f);

Naming Consistency

Settings map to struct fields named with capitalized PID (transition_PID_mmix_multiplier_*). Verify consistency across CLI/docs/serialization to avoid mismatches, and ensure defaults are applied correctly in profile reset.

  field: mixer_config.transition_PID_mmix_multiplier_roll
  min: -5000
  max: 5000
- name: transition_pid_mmix_multiplier_pitch
  description: "pitch axis pid multiplier applied to motor mixer only on mixer trasition mode, 1000(default) is 1.0x, -1000 is 1.0x on opposite"
  default_value: 1000
  field: mixer_config.transition_PID_mmix_multiplier_pitch
  min: -5000
  max: 5000
- name: transition_pid_mmix_multiplier_yaw
  description: "yaw axis pid multiplier applied to motor mixer only on mixer trasition mode, 1000(default) is 1.0x, -1000 is 1.0x on opposite"
  default_value: 1000
  field: mixer_config.transition_PID_mmix_multiplier_yaw

qodo-code-review · 2025-09-24T03:26:06Z

PR Code Suggestions ✨

Explore these optional code suggestions:

Category	Suggestion	Impact
Possible issue	Use integer math to prevent overflow To prevent potential integer overflow and improve performance, use integer arithmetic with a cast to `int32_t` for the intermediate multiplication instead of floating-point operations. src/main/flight/mixer.c [531-533] -input[ROLL] = input[ROLL] * (currentMixerConfig.transition_PID_mmix_multiplier_roll / 1000.0f); -input[PITCH] = input[PITCH] * (currentMixerConfig.transition_PID_mmix_multiplier_pitch / 1000.0f); -input[YAW] = input[YAW] * (currentMixerConfig.transition_PID_mmix_multiplier_yaw / 1000.0f); +input[ROLL] = ((int32_t)input[ROLL] * currentMixerConfig.transition_PID_mmix_multiplier_roll) / 1000; +input[PITCH] = ((int32_t)input[PITCH] * currentMixerConfig.transition_PID_mmix_multiplier_pitch) / 1000; +input[YAW] = ((int32_t)input[YAW] * currentMixerConfig.transition_PID_mmix_multiplier_yaw) / 1000; Apply / Chat Suggestion importance[1-10]: 8 __ Why: The suggestion correctly identifies a potential integer overflow and proposes using `int32_t` for the intermediate calculation, which is the standard practice. This also avoids floating-point math in a performance-critical function marked with `FAST_CODE`, improving both robustness and efficiency.	Medium
More

shota3527 · 2025-09-24T03:31:16Z

bench test work as intended, motor pid is disabled when set to 0
I fly tested this feature on fimi manta, when setting roll mmix tp 70%, it seems works better

sensei-hacker · 2025-10-11T16:28:55Z

Thanks for your work on this
Can anyone else test this, or has someone? In particular we'd like to test for any unusual situations, any way things could go wrong.

qodo-code-review · 2025-11-08T22:24:01Z

PR Compliance Guide 🔍

Below is a summary of compliance checks for this PR:

Security Compliance
🟢	No security concerns identified No security vulnerabilities detected by AI analysis. Human verification advised for critical code.
Ticket Compliance
⚪	🎫 No ticket provided Create ticket/issue
Codebase Duplication Compliance
⚪	Codebase context is not defined Follow the guide to enable codebase context checks.
Custom Compliance
🟢	Generic: Secure Error Handling Objective: To prevent the leakage of sensitive system information through error messages while providing sufficient detail for internal debugging. Status: Passed
	Generic: Secure Logging Practices Objective: To ensure logs are useful for debugging and auditing without exposing sensitive information like PII, PHI, or cardholder data. Status: Passed
⚪	Generic: Comprehensive Audit Trails Objective: To create a detailed and reliable record of critical system actions for security analysis and compliance. Status: No auditing: The new transition PID multipliers logic executes without any added logging of critical state changes (e.g., when transition mixing is applied and the multiplier values used), making auditability unclear. Referred Code if(isMixerTransitionMixing){ input[ROLL] = input[ROLL] * (currentMixerConfig.transition_PID_mmix_multiplier_roll / 1000.0f); input[PITCH] = input[PITCH] * (currentMixerConfig.transition_PID_mmix_multiplier_pitch / 1000.0f); input[YAW] = input[YAW] * (currentMixerConfig.transition_PID_mmix_multiplier_yaw / 1000.0f); }
	Generic: Meaningful Naming and Self-Documenting Code Objective: Ensure all identifiers clearly express their purpose and intent, making code self-documenting Status: Naming clarity: The boolean `isMixerTransitionMixing` and fields like `transition_PID_mmix_multiplier_` include abbreviations and mixed casing that could reduce clarity without nearby documentation. Referred Code if(isMixerTransitionMixing){ input[ROLL] = input[ROLL] (currentMixerConfig.transition_PID_mmix_multiplier_roll / 1000.0f); input[PITCH] = input[PITCH] * (currentMixerConfig.transition_PID_mmix_multiplier_pitch / 1000.0f); input[YAW] = input[YAW] * (currentMixerConfig.transition_PID_mmix_multiplier_yaw / 1000.0f); }
	Generic: Robust Error Handling and Edge Case Management Objective: Ensure comprehensive error handling that provides meaningful context and graceful degradation Status: Edge cases: Applying large or negative multipliers from settings directly to control inputs lacks visible range validation or saturation handling at this call site, which may cause extreme outputs during transition. Referred Code input[ROLL] = input[ROLL] * (currentMixerConfig.transition_PID_mmix_multiplier_roll / 1000.0f); input[PITCH] = input[PITCH] * (currentMixerConfig.transition_PID_mmix_multiplier_pitch / 1000.0f); input[YAW] = input[YAW] * (currentMixerConfig.transition_PID_mmix_multiplier_yaw / 1000.0f);
	Generic: Security-First Input Validation and Data Handling Objective: Ensure all data inputs are validated, sanitized, and handled securely to prevent vulnerabilities Status: Range reliance: Settings declare -5000 to 5000 ranges for multipliers but the usage site multiplies directly by these values without visible clamping or validation enforcement in code. Referred Code description: "roll axis pid multiplier applied to motor mixer only on mixer trasition mode, 1000(default) is 1.0x, -1000 is 1.0x on opposite" default_value: 1000 field: mixer_config.transition_PID_mmix_multiplier_roll min: -5000 max: 5000 - name: transition_pid_mmix_multiplier_pitch description: "pitch axis pid multiplier applied to motor mixer only on mixer trasition mode, 1000(default) is 1.0x, -1000 is 1.0x on opposite" default_value: 1000 field: mixer_config.transition_PID_mmix_multiplier_pitch min: -5000 max: 5000 - name: transition_pid_mmix_multiplier_yaw description: "yaw axis pid multiplier applied to motor mixer only on mixer trasition mode, 1000(default) is 1.0x, -1000 is 1.0x on opposite" default_value: 1000 field: mixer_config.transition_PID_mmix_multiplier_yaw min: -5000 max: 5000

Compliance status legend

🟢 - Fully Compliant
🟡 - Partial Compliant
🔴 - Not Compliant
⚪ - Requires Further Human Verification
🏷️ - Compliance label

shota3527 added 3 commits August 5, 2025 19:58

mmix mult

387ba82

Add transition PID mmix multipliers to mixer profile reset function

ab4b2c8

update settings.md

e02f2d1

shota3527 marked this pull request as ready for review September 24, 2025 03:24

shota3527 changed the title ~~Add options to adjuest motor RPY when transition mode is activate(vtol)~~ Add options to adjuest motor RPY mixing when transition mode is activate(vtol) Sep 24, 2025

qodo-code-review bot changed the title ~~Add options to adjuest motor RPY mixing when transition mode is activate(vtol)~~ Add options to adjuest motor RPY when transition mode is activate(vtol) Sep 24, 2025

qodo-code-review bot added the Review effort 2/5 label Sep 24, 2025

sensei-hacker merged commit 2c57926 into iNavFlight:master Nov 8, 2025
22 checks passed

sensei-hacker added this to the 9.0 milestone Nov 16, 2025

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Add options to adjuest motor RPY when transition mode is activate(vtol)#10996

Add options to adjuest motor RPY when transition mode is activate(vtol)#10996
sensei-hacker merged 3 commits intoiNavFlight:masterfrom
shota3527:sh_vtol_mmix_mult

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