Unexpected VTOL / Mixer Transition Behaviour

[dzaro-dev]

Current Behavior

VTOL servos snap to mid position when switching from vertical to transition and back if the servos havr not reached the mid position. This only happens if there is a servo speed assigned to the servos.

Here is a video showing the issue:

https://youtu.be/TVK94oeUF_c?si=28fibJ6rQzEGtAN6

Steps to Reproduce

1. SetupVTOL on 3 position switch and assign servo speed for tilt servos.
2. Switch from vertical to transition (e.g. 45 degrees).
3. Before the servos reach the mid position, switch back yo vertical mode.

Expected behavior

Before going back, the servo position should temporarily be memorised so that it doesn't snap yo the mid position and then continue going back up.

This might no be such a problem when switching from vertical to transition and back to vertical, but it will almost certainly be a problem when switching from horizontal to transition and the back to horizontal.

Suggested solution(s)

I'm not an expert in coding, so I don't even know where to start looking into the code to try and code this temporary servo position memory. Maybe someone could point me in the right direction.

PS: Tilt servos are set up according to my youtube video.

• FC Board name and vendor: MATEK F765
• INAV version string: 9.0.1

[Jetrell]

Looking at this feature added in 9.0.
@shota3527 said he made a commit to fix that issue.. But I'm not sure if he actually got around to fixing it before the PR was merged.

This would be the same issue @Papa-Echo reported in the discussions.