vtol.md: s/pid_profile/control_profile/

[sensei-hacker]

User description

Update PID profile to control profile.

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PR Type

Documentation

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Description

• Replace terminology "PID profile" with "control profile"

• Update documentation to reflect API naming changes

• Fix typo "fisrt" to "first"

• Minor grammar improvement "so" to "such that"

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Diagram Walkthrough

flowchart LR
  A["PID profile<br/>terminology"] -- "replace with" --> B["control profile<br/>terminology"]
  C["Documentation<br/>accuracy"] -- "improved by" --> D["Consistent naming<br/>throughout VTOL.md"]

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File Walkthrough

Relevant files

Documentation

VTOL.md Terminology update from PID to control profiles                    docs/VTOL.md Replaced all instances of "PID profile" with "control profile" throughout the document Updated configuration examples and CLI commands to use new terminology Fixed typo "fisrt" to "first" in step 1 heading Improved grammar in step 3 description ("so" to "such that") Added clarification comment about control profile formerly being pid_profile Reformatted line wrapping for better readability in step 1 and step 2 descriptions +11/-9

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[qodo-code-review]

PR Compliance Guide 🔍

(Compliance updated until commit 4a90d42)

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 Learn more about managing compliance generic rules or creating your own custom rules
	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 Learn more about managing compliance generic rules or creating your own custom rules
⚪	Generic: Comprehensive Audit Trails Objective: To create a detailed and reliable record of critical system actions for security analysis and compliance. Status: Not Applicable: The PR only updates documentation terminology and does not add or modify any executable code that could impact audit logging of critical actions. Referred Code ### The VTOL functionality is achieved by switching/transitioning between two configurations stored in the FC. VTOL specific configurations are Mixer Profiles with associated control profiles. One profile set is for fixed-wing(FW) mode, One is for multi-copter(MC) mode. Configuration/Settings other than Mixer/control profiles are shared among two modes  0. **Find a DIFF ALL file for your model and start from there if possible** - Be aware that `MIXER PROFILE 2` RC mode setting introduced by diff file can get your stuck in a mixer_profile. remove or change channel to proceed 1. **Setup Profile 1:** - Configure it as a normal fixed-wing/multi-copter. 2. **Setup Profile 2:** - Configure it as a normal multi-copter/fixed-wing. 3. **Mode Tab Settings:** - Set up switching in the mode tab. 4. *(Recommended)* **Transition Mixing (Multi-Rotor Profile):** - Configure transition mixing to gain airspeed in the multi-rotor profile. 5. *(Optional)* **Automated Switching (RTH):** - Optionally, set up automated switching in case of failsafe. # STEP 0: Load parameter preset/templates ... (clipped 161 lines) Learn more about managing compliance generic rules or creating your own custom rules
	Generic: Meaningful Naming and Self-Documenting Code Objective: Ensure all identifiers clearly express their purpose and intent, making code self-documenting Status: Documentation Only: Changes are limited to documentation wording (e.g., 'PID profile' to 'control profile') and do not introduce or rename code identifiers in the codebase. Referred Code ### The VTOL functionality is achieved by switching/transitioning between two configurations stored in the FC. VTOL specific configurations are Mixer Profiles with associated control profiles. One profile set is for fixed-wing(FW) mode, One is for multi-copter(MC) mode. Configuration/Settings other than Mixer/control profiles are shared among two modes  0. **Find a DIFF ALL file for your model and start from there if possible** - Be aware that `MIXER PROFILE 2` RC mode setting introduced by diff file can get your stuck in a mixer_profile. remove or change channel to proceed 1. **Setup Profile 1:** - Configure it as a normal fixed-wing/multi-copter. 2. **Setup Profile 2:** - Configure it as a normal multi-copter/fixed-wing. 3. **Mode Tab Settings:** - Set up switching in the mode tab. 4. *(Recommended)* **Transition Mixing (Multi-Rotor Profile):** - Configure transition mixing to gain airspeed in the multi-rotor profile. 5. *(Optional)* **Automated Switching (RTH):** - Optionally, set up automated switching in case of failsafe. # STEP 0: Load parameter preset/templates ... (clipped 161 lines) Learn more about managing compliance generic rules or creating your own custom rules
	Generic: Robust Error Handling and Edge Case Management Objective: Ensure comprehensive error handling that provides meaningful context and graceful degradation Status: No Executable Code: The PR modifies markdown documentation only and does not introduce error handling logic or edge case handling to evaluate. Referred Code ### The VTOL functionality is achieved by switching/transitioning between two configurations stored in the FC. VTOL specific configurations are Mixer Profiles with associated control profiles. One profile set is for fixed-wing(FW) mode, One is for multi-copter(MC) mode. Configuration/Settings other than Mixer/control profiles are shared among two modes  0. **Find a DIFF ALL file for your model and start from there if possible** - Be aware that `MIXER PROFILE 2` RC mode setting introduced by diff file can get your stuck in a mixer_profile. remove or change channel to proceed 1. **Setup Profile 1:** - Configure it as a normal fixed-wing/multi-copter. 2. **Setup Profile 2:** - Configure it as a normal multi-copter/fixed-wing. 3. **Mode Tab Settings:** - Set up switching in the mode tab. 4. *(Recommended)* **Transition Mixing (Multi-Rotor Profile):** - Configure transition mixing to gain airspeed in the multi-rotor profile. 5. *(Optional)* **Automated Switching (RTH):** - Optionally, set up automated switching in case of failsafe. # STEP 0: Load parameter preset/templates ... (clipped 161 lines) Learn more about managing compliance generic rules or creating your own custom rules
	Generic: Security-First Input Validation and Data Handling Objective: Ensure all data inputs are validated, sanitized, and handled securely to prevent vulnerabilities Status: Documentation Scope: The changes are documentation-only and do not add or modify input handling, validation, authentication, or data security mechanisms. Referred Code ### The VTOL functionality is achieved by switching/transitioning between two configurations stored in the FC. VTOL specific configurations are Mixer Profiles with associated control profiles. One profile set is for fixed-wing(FW) mode, One is for multi-copter(MC) mode. Configuration/Settings other than Mixer/control profiles are shared among two modes  0. **Find a DIFF ALL file for your model and start from there if possible** - Be aware that `MIXER PROFILE 2` RC mode setting introduced by diff file can get your stuck in a mixer_profile. remove or change channel to proceed 1. **Setup Profile 1:** - Configure it as a normal fixed-wing/multi-copter. 2. **Setup Profile 2:** - Configure it as a normal multi-copter/fixed-wing. 3. **Mode Tab Settings:** - Set up switching in the mode tab. 4. *(Recommended)* **Transition Mixing (Multi-Rotor Profile):** - Configure transition mixing to gain airspeed in the multi-rotor profile. 5. *(Optional)* **Automated Switching (RTH):** - Optionally, set up automated switching in case of failsafe. # STEP 0: Load parameter preset/templates ... (clipped 161 lines) Learn more about managing compliance generic rules or creating your own custom rules

Compliance status legend

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

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Previous compliance checks

Compliance check up to commit 4f9dc5f

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: Meaningful Naming and Self-Documenting Code Objective: Ensure all identifiers clearly express their purpose and intent, making code self-documenting Status: Passed Learn more about managing compliance generic rules or creating your own custom rules
	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 Learn more about managing compliance generic rules or creating your own custom rules
⚪	Generic: Comprehensive Audit Trails Objective: To create a detailed and reliable record of critical system actions for security analysis and compliance. Status: No logging context: The PR modifies documentation only and adds no code that performs or omits audit logging, so compliance with audit trail requirements cannot be determined from the diff. Referred Code ### The VTOL functionality is achieved by switching/transitioning between two configurations stored in the FC. VTOL specific configurations are Mixer Profiles with associated control profiles. One profile set is for fixed-wing(FW) mode, One is for multi-copter(MC) mode. Configuration/Settings other than Mixer/control profiles are shared among two modes  0. **Find a DIFF ALL file for your model and start from there if possible** - Be aware that `MIXER PROFILE 2` RC mode setting introduced by diff file can get your stuck in a mixer_profile. remove or change channel to proceed 1. **Setup Profile 1:** - Configure it as a normal fixed-wing/multi-copter. 2. **Setup Profile 2:** - Configure it as a normal multi-copter/fixed-wing. 3. **Mode Tab Settings:** - Set up switching in the mode tab. 4. *(Recommended)* **Transition Mixing (Multi-Rotor Profile):** - Configure transition mixing to gain airspeed in the multi-rotor profile. 5. *(Optional)* **Automated Switching (RTH):** - Optionally, set up automated switching in case of failsafe. # STEP 0: Load parameter preset/templates ... (clipped 160 lines) Learn more about managing compliance generic rules or creating your own custom rules
	Generic: Robust Error Handling and Edge Case Management Objective: Ensure comprehensive error handling that provides meaningful context and graceful degradation Status: No error handling: The diff updates documentation and introduces no executable code paths or error handling, so robustness against failures cannot be assessed from the added lines. Referred Code 1. **Select the first Mixer Profile and Control Profile:** - In the CLI, switch to the mixer_profile and control_profile you wish to set first. You can also switch mixer_profile/control_profile through gui with aforementioned presets loaded. ``` mixer_profile 1 #in this example, we set profile 1 first set mixer_pid_profile_linking = ON # Let the mixer_profile handle the control profile (formerly pid_profile) switch on this mixer_profile set platform_type = AIRPLANE save ``` 2. **Configure the fixed-wing/Multi-Copter:** - Configure your fixed-wing/Multi-Copter as you normally would, or you can copy and paste default settings to expedite the process. - Dshot esc protocol availability might be limited depends on outputs and fc board you are using. change the motor wiring or use oneshot/multishot esc protocol and calibrate throttle range. - You can use throttle = -1 as a placeholder for the motor you wish to stop if the motor isn't the last motor - Consider conducting a test flight to ensure that everything operates as expected. And tune the settings, trim the servos.  You must also assign the tilting servos values using the MAX values. If you don't do this the motors will point in the direction assigned by the transition mode. # STEP 2: Configuring as a Multi-Copter in Profile 2 ... (clipped 68 lines) Learn more about managing compliance generic rules or creating your own custom rules
	Generic: Secure Error Handling Objective: To prevent the leakage of sensitive system information through error messages while providing sufficient detail for internal debugging. Status: No user errors shown: Only documentation text was changed and no user-facing error messaging was added or modified, so secure error handling cannot be evaluated from this PR. Referred Code 1. **Select the first Mixer Profile and Control Profile:** - In the CLI, switch to the mixer_profile and control_profile you wish to set first. You can also switch mixer_profile/control_profile through gui with aforementioned presets loaded. ``` mixer_profile 1 #in this example, we set profile 1 first set mixer_pid_profile_linking = ON # Let the mixer_profile handle the control profile (formerly pid_profile) switch on this mixer_profile set platform_type = AIRPLANE save ``` 2. **Configure the fixed-wing/Multi-Copter:** - Configure your fixed-wing/Multi-Copter as you normally would, or you can copy and paste default settings to expedite the process. - Dshot esc protocol availability might be limited depends on outputs and fc board you are using. change the motor wiring or use oneshot/multishot esc protocol and calibrate throttle range. - You can use throttle = -1 as a placeholder for the motor you wish to stop if the motor isn't the last motor - Consider conducting a test flight to ensure that everything operates as expected. And tune the settings, trim the servos.  You must also assign the tilting servos values using the MAX values. If you don't do this the motors will point in the direction assigned by the transition mode. # STEP 2: Configuring as a Multi-Copter in Profile 2 ... (clipped 68 lines) Learn more about managing compliance generic rules or creating your own custom rules
	Generic: Security-First Input Validation and Data Handling Objective: Ensure all data inputs are validated, sanitized, and handled securely to prevent vulnerabilities Status: No input handling: The changes are to documentation and introduce no new input surfaces or data handling logic, so validation and security controls cannot be assessed from the diff. Referred Code 1. **Select the first Mixer Profile and Control Profile:** - In the CLI, switch to the mixer_profile and control_profile you wish to set first. You can also switch mixer_profile/control_profile through gui with aforementioned presets loaded. ``` mixer_profile 1 #in this example, we set profile 1 first set mixer_pid_profile_linking = ON # Let the mixer_profile handle the control profile (formerly pid_profile) switch on this mixer_profile set platform_type = AIRPLANE save ``` 2. **Configure the fixed-wing/Multi-Copter:** - Configure your fixed-wing/Multi-Copter as you normally would, or you can copy and paste default settings to expedite the process. - Dshot esc protocol availability might be limited depends on outputs and fc board you are using. change the motor wiring or use oneshot/multishot esc protocol and calibrate throttle range. - You can use throttle = -1 as a placeholder for the motor you wish to stop if the motor isn't the last motor - Consider conducting a test flight to ensure that everything operates as expected. And tune the settings, trim the servos.  You must also assign the tilting servos values using the MAX values. If you don't do this the motors will point in the direction assigned by the transition mode. # STEP 2: Configuring as a Multi-Copter in Profile 2 ... (clipped 68 lines) Learn more about managing compliance generic rules or creating your own custom rules

[qodo-code-review]

PR Code Suggestions ✨

Explore these optional code suggestions:

Category	Suggestion	Impact
Learned best practice	Clarify profile-linking terminology Update the parameter name or add a clarifying note to ensure consistency between the CLI setting mixer_pid_profile_linking and the new "control profile" terminology, avoiding confusion about whether the CLI key has changed. docs/VTOL.md [123] -set mixer_pid_profile_linking = ON # Let the mixer_profile handle the control profile (formerly pid_profile) switch on this mixer_profile +set mixer_pid_profile_linking = ON # Links mixer_profile to the associated control_profile (CLI key remains mixer_pid_profile_linking) Apply / Chat Suggestion importance[1-10]: 6 __ Why: Relevant best practice - Align terminology and references across documentation and code to maintain a single source of truth (Pattern 1).	Low
Update

[MrD-RC]

It seems like there are more of these littered about the place than I thought. I may have a search tonight. It would be nice to get all the references to profile, controlrate_profile, and pid profile set to the correct control_profile.