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ezTuneUpdate() derived rcExpo8 and rcYawExpo8 from ezTune()->rate:
stabilized.rcExpo8 = scaleRange(ezTune()->rate, 0, 200, 40, 100);
The two lines directly above it set the rates from the same field, so
this reads as a copy-paste slip. The consequence is that ez_expo has no
effect at all - it is stored, carried over MSP2_INAV_EZ_TUNE in both
directions and offered in the Configurator, but never reaches the
control profile - while moving the rate slider silently changed the
expo curve as well.
The Configurator confirms the intent. tabs/pid_tuning.js draws the
EZ-Tune expo preview with
scaleRange($('#ez_tune_expo').val(), 0, 200, 40, 100)
which is the same formula against the same range, fed from the expo
slider. The curve shown to the user was therefore the one the firmware
was supposed to apply, not the one it did apply.
Both settings default to 100, so the applied expo at defaults is
unchanged at 70, which is also the rc_expo default. Only a setup that
moved the rate slider away from 100 sees a different expo, and that is
the behaviour being corrected.
Raffi1202
marked this pull request as ready for review
September 11, 2026 15:35
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PR Summary by QodoApply EZ-Tune expo setting to control profile expo
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Problem
No issue was filed; found while writing the EZ-Tune documentation page (iNavFlight/iNavFlight.github.io#21). With EZ-Tune enabled, the expo slider (
ez_expo) in the Configurator does nothing: the stick curve stays the same however it is set, although the Configurator draws a preview curve for it. Moving the rate slider (ez_rate) changes the expo as well, with nothing on screen saying so.Cause
src/main/flight/ez_tune.c:143-144onmaintenance-10.x:ezTuneUpdate()computesstabilized.rcExpo8andstabilized.rcYawExpo8fromezTune()->rateinstead ofezTune()->expo. The three lines above set the axis rates from the same field, so the expo lines read as a copy-paste slip. On that branchezTune()->expois read in only one other place,src/main/fc/fc_msp.c:1948, which sends it back overMSP2_INAV_EZ_TUNE; the setting never reaches the control profile. The same two lines exist onrelease/9.1(src/main/flight/ez_tune.c:143-144) and the diff applies there cleanly.Change
Two lines: the
rcExpo8andrcYawExpo8assignments readezTune()->expoinstead ofezTune()->rate. The mappingscaleRange(..., 0, 200, 40, 100)is unchanged and is the one the Configurator uses for its expo preview (tabs/pid_tuning.js:107).ez_rateandez_expoboth default to 100, so the applied expo at defaults stays 70 for roll/pitch and yaw. A profile withez_rateaway from 100 gets a different expo on its nextezTuneUpdate(); that is the corrected behaviour and worth a release-note line.Test
Not run on hardware or SITL. Cause verified by reading
src/main/flight/ez_tune.c:143-144andsrc/main/fc/fc_msp.c:1948onmaintenance-10.x. The upstream "Build firmware" run for 78aebbc is waiting for maintainer approval: https://github.com/iNavFlight/inav/actions/runs/34533382666.Flash / RAM
Not measured yet. The upstream firmware CI has not been released for this PR, so no size report exists.
Docs
No documentation change needed:
docs/Settings.mdis generated fromsettings.yaml, which is unchanged, and itsez_expoentry ("EzTune expo") already describes the corrected behaviour. There is no EZ-Tune page underdocs/onmaintenance-10.x; the user-facing page is iNavFlight/iNavFlight.github.io#21.