iNavFlight · MrD-RC · Nov 18, 2025 · Nov 18, 2025 · Nov 19, 2025 · Nov 19, 2025
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -8,7 +8,8 @@
         "platform.h": "c",
         "timer.h": "c",
         "bus.h": "c",
-        "io.h": "c"
+        "io.h": "c",
+        "fc_core.h": "c"
     },
     "editor.tabSize": 4,
     "editor.insertSpaces": true,

diff --git a/docs/MixerProfile.md b/docs/MixerProfile.md
@@ -99,7 +99,7 @@ TailSitter is supported by add a 90deg offset to the board alignment. Set the bo
         - motor_direction_inverted, and more·······
     - **Motor Mixing (mmix)**
     - **Servo Mixing (smix)**
-- **PID Profile**
+- **Control Profile**
   - PIDs for Roll, Pitch, Yaw
   - PIDs for Navigation Modes
   - TPA (Throttle PID Attenuation) Settings

diff --git a/docs/Settings.md b/docs/Settings.md
@@ -582,16 +582,6 @@ Blackbox logging rate numerator. Use num/denom settings to decide if a frame sho
 
 ---
 
-### controlrate_profile
-
-Control rate profile to switch to when the battery profile is selected, 0 to disable and keep the currently selected control rate profile
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 0 | 0 | 3 |
-
----
-
 ### cruise_power
 
 Power draw at cruise throttle used for remaining flight time/distance estimation in 0.01W unit
@@ -2992,9 +2982,9 @@ If set to on, This mixer_profile will try to switch to another mixer_profile whe
 
 ---
 
-### mixer_pid_profile_linking
+### mixer_control_profile_linking
 
-If enabled, pid profile_index will follow mixer_profile index. Set to OFF(default) if you want to handle PID profile by your self. Recommend to set to ON on all mixer_profiles to let the mixer_profile handle the PID profile switching on a VTOL or mixed platform type setup.
+If enabled, control_profile_index will follow mixer_profile index. Set to OFF(default) if you want to handle control_profile by your self. Recommend to set to ON on all mixer_profiles to let the mixer_profile handle the control_profile switching on a VTOL or mixed platform type setup.
 
 | Default | Min | Max |
 | --- | --- | --- |
@@ -6532,6 +6522,16 @@ Time zone offset from UTC, in minutes. This is applied to the GPS time for loggi
 
 ---
 
+### use_control_profile
+
+Control profile to switch to when the battery profile is selected, 0 to disable and keep the currently selected control profile
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 3 |
+
+---
+
 ### vbat_adc_channel
 
 ADC channel to use for battery voltage sensor. Defaults to board VBAT input (if available). 0 = disabled

diff --git a/docs/development/msp/inav_enums_ref.md b/docs/development/msp/inav_enums_ref.md
@@ -4972,7 +4972,7 @@
 |---|---:|---|
 | `MASTER_VALUE` | (0 << SETTING_SECTION_OFFSET) |  |
 | `PROFILE_VALUE` | (1 << SETTING_SECTION_OFFSET) |  |
-| `CONTROL_RATE_VALUE` | (2 << SETTING_SECTION_OFFSET) |  |
+| `CONTROL_VALUE` | (2 << SETTING_SECTION_OFFSET) |  |
 | `BATTERY_CONFIG_VALUE` | (3 << SETTING_SECTION_OFFSET) |  |
 | `MIXER_CONFIG_VALUE` | (4 << SETTING_SECTION_OFFSET) |  |
 | `EZ_TUNE_VALUE` | (5 << SETTING_SECTION_OFFSET) |  |

diff --git a/src/main/CMakeLists.txt b/src/main/CMakeLists.txt
@@ -280,9 +280,9 @@ main_sources(COMMON_SRC
     fc/cli.h
     fc/config.c
     fc/config.h
-    fc/controlrate_profile.c
-    fc/controlrate_profile.h
-    fc/controlrate_profile_config_struct.h
+    fc/control_profile.c
+    fc/control_profile.h
+    fc/control_profile_config_struct.h
     fc/fc_core.c
     fc/fc_core.h
     fc/fc_init.c

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
@@ -48,7 +48,7 @@
 #include "drivers/pwm_output.h"
 
 #include "fc/config.h"
-#include "fc/controlrate_profile.h"
+#include "fc/control_profile.h"
 #include "fc/fc_core.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_modes.h"
@@ -1934,15 +1934,15 @@ static bool blackboxWriteSysinfo(void)
 
         BLACKBOX_PRINT_HEADER_LINE("looptime", "%d",                        getLooptime());
         BLACKBOX_PRINT_HEADER_LINE("rc_rate", "%d",                         100); //For compatibility reasons write rc_rate 100
-        BLACKBOX_PRINT_HEADER_LINE("rc_expo", "%d",                         currentControlRateProfile->stabilized.rcExpo8);
-        BLACKBOX_PRINT_HEADER_LINE("rc_yaw_expo", "%d",                     currentControlRateProfile->stabilized.rcYawExpo8);
-        BLACKBOX_PRINT_HEADER_LINE("thr_mid", "%d",                         currentControlRateProfile->throttle.rcMid8);
-        BLACKBOX_PRINT_HEADER_LINE("thr_expo", "%d",                        currentControlRateProfile->throttle.rcExpo8);
-        BLACKBOX_PRINT_HEADER_LINE("tpa_rate", "%d",                        currentControlRateProfile->throttle.dynPID);
-        BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint", "%d",                  currentControlRateProfile->throttle.pa_breakpoint);
-        BLACKBOX_PRINT_HEADER_LINE("rates", "%d,%d,%d",                     currentControlRateProfile->stabilized.rates[ROLL],
-                                                                            currentControlRateProfile->stabilized.rates[PITCH],
-                                                                            currentControlRateProfile->stabilized.rates[YAW]);
+        BLACKBOX_PRINT_HEADER_LINE("rc_expo", "%d",                         currentControlProfile->stabilized.rcExpo8);
+        BLACKBOX_PRINT_HEADER_LINE("rc_yaw_expo", "%d",                     currentControlProfile->stabilized.rcYawExpo8);
+        BLACKBOX_PRINT_HEADER_LINE("thr_mid", "%d",                         currentControlProfile->throttle.rcMid8);
+        BLACKBOX_PRINT_HEADER_LINE("thr_expo", "%d",                        currentControlProfile->throttle.rcExpo8);
+        BLACKBOX_PRINT_HEADER_LINE("tpa_rate", "%d",                        currentControlProfile->throttle.dynPID);
+        BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint", "%d",                  currentControlProfile->throttle.pa_breakpoint);
+        BLACKBOX_PRINT_HEADER_LINE("rates", "%d,%d,%d",                     currentControlProfile->stabilized.rates[ROLL],
+                                                                            currentControlProfile->stabilized.rates[PITCH],
+                                                                            currentControlProfile->stabilized.rates[YAW]);
         BLACKBOX_PRINT_HEADER_LINE("rollPID", "%d,%d,%d,%d",                pidBank()->pid[PID_ROLL].P,
                                                                             pidBank()->pid[PID_ROLL].I,
                                                                             pidBank()->pid[PID_ROLL].D,

diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
@@ -37,7 +37,7 @@
 #include "flight/pid.h"
 
 #include "fc/config.h"
-#include "fc/controlrate_profile.h"
+#include "fc/control_profile.h"
 #include "fc/rc_controls.h"
 #include "fc/settings.h"
 
@@ -492,7 +492,7 @@ static const OSD_Entry cmsx_menuImuEntries[] =
     OSD_SUBMENU_ENTRY("MECHANICS",  &cmsx_menuMechanics),
 
     // Rate profile dependent
-    OSD_UINT8_CALLBACK_ENTRY("RATE PROF", cmsx_profileIndexOnChange, (&(const OSD_UINT8_t){ &tmpProfileIndex, 1, MAX_CONTROL_RATE_PROFILE_COUNT, 1})),
+    OSD_UINT8_CALLBACK_ENTRY("RATE PROF", cmsx_profileIndexOnChange, (&(const OSD_UINT8_t){ &tmpProfileIndex, 1, MAX_CONTROL_PROFILE_COUNT, 1})),
     OSD_SUBMENU_ENTRY("RATE", &cmsx_menuRateProfile),
     OSD_SUBMENU_ENTRY("MANU RATE", &cmsx_menuManualRateProfile),
 

diff --git a/src/main/config/parameter_group_ids.h b/src/main/config/parameter_group_ids.h
@@ -28,7 +28,7 @@
 //#define PG_SENSOR_TRIMS 9 -- NOT USED in INAV
 #define PG_GYRO_CONFIG 10
 #define PG_BATTERY_PROFILES 11
-#define PG_CONTROL_RATE_PROFILES 12
+#define PG_CONTROL_PROFILES 12
 #define PG_SERIAL_CONFIG 13
 #define PG_PID_PROFILE 14
 //#define PG_GTUNE_CONFIG 15

diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
@@ -73,7 +73,7 @@ bool cliMode = false;
 #include "fc/fc_core.h"
 #include "fc/cli.h"
 #include "fc/config.h"
-#include "fc/controlrate_profile.h"
+#include "fc/control_profile.h"
 #include "fc/rc_adjustments.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_modes.h"
@@ -3731,7 +3731,7 @@ static void cliDumpControlProfile(uint8_t profileIndex, uint8_t dumpMask)
     cliPrintHashLine("control_profile");
     cliPrintLinef("control_profile %d\r\n", getConfigProfile() + 1);
     dumpAllValues(PROFILE_VALUE, dumpMask);
-    dumpAllValues(CONTROL_RATE_VALUE, dumpMask);
+    dumpAllValues(CONTROL_VALUE, dumpMask);
     dumpAllValues(EZ_TUNE_VALUE, dumpMask);
 }
 

diff --git a/src/main/fc/config.c b/src/main/fc/config.c
@@ -67,7 +67,7 @@
 #include "flight/ez_tune.h"
 
 #include "fc/config.h"
-#include "fc/controlrate_profile.h"
+#include "fc/control_profile.h"
 #include "fc/rc_adjustments.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
@@ -321,7 +321,7 @@ void resetConfigs(void)
 
 static void activateConfig(void)
 {
-    activateControlRateConfig();
+    activateControlConfig();
     activateBatteryProfile();
     activateMixerConfig();
 
@@ -443,7 +443,7 @@ bool setConfigProfile(uint8_t profileIndex)
     pgActivateProfile(profileIndex);
     systemConfigMutable()->current_profile_index = profileIndex;
     // set the control rate profile to match
-    setControlRateProfile(profileIndex);
+    setControlProfile(profileIndex);
 #ifdef USE_EZ_TUNE
     ezTuneUpdate();
 #endif

diff --git a/src/main/fc/controlrate_profile.c → src/main/fc/control_profile.c b/src/main/fc/controlrate_profile.c → src/main/fc/control_profile.c
@@ -27,19 +27,18 @@
 #include "config/parameter_group_ids.h"
 
 #include "fc/config.h"
-#include "fc/controlrate_profile.h"
+#include "fc/control_profile.h"
 #include "fc/rc_curves.h"
 #include "fc/settings.h"
 
-const controlRateConfig_t *currentControlRateProfile;
+const controlConfig_t *currentControlProfile;
 
+PG_REGISTER_ARRAY_WITH_RESET_FN(controlConfig_t, MAX_CONTROL_PROFILE_COUNT, controlProfiles, PG_CONTROL_PROFILES, 0);
 
-PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 4);
-
-void pgResetFn_controlRateProfiles(controlRateConfig_t *instance)
+void pgResetFn_controlProfiles(controlConfig_t *instance)
 {
-    for (int i = 0; i < MAX_CONTROL_RATE_PROFILE_COUNT; i++) {
-        RESET_CONFIG(controlRateConfig_t, &instance[i],
+    for (int i = 0; i < MAX_CONTROL_PROFILE_COUNT; i++) {
+        RESET_CONFIG(controlConfig_t, &instance[i],
             .throttle = {
                 .rcMid8 = SETTING_THR_MID_DEFAULT,
                 .rcExpo8 = SETTING_THR_EXPO_DEFAULT,
@@ -82,21 +81,21 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *instance)
     }
 }
 
-void setControlRateProfile(uint8_t profileIndex)
+void setControlProfile(uint8_t profileIndex)
 {
-    if (profileIndex >= MAX_CONTROL_RATE_PROFILE_COUNT) {
+    if (profileIndex >= MAX_CONTROL_PROFILE_COUNT) {
         profileIndex = 0;
     }
-    currentControlRateProfile = controlRateProfiles(profileIndex);
+    currentControlProfile = controlProfiles(profileIndex);
 }
 
-void activateControlRateConfig(void)
+void activateControlConfig(void)
 {
-    generateThrottleCurve(currentControlRateProfile);
+    generateThrottleCurve(currentControlProfile);
 }
 
-void changeControlRateProfile(uint8_t profileIndex)
+void changeControlProfile(uint8_t profileIndex)
 {
-    setControlRateProfile(profileIndex);
-    activateControlRateConfig();
+    setControlProfile(profileIndex);
+    activateControlConfig();
 }
diff --git a/src/main/fc/controlrate_profile.h → src/main/fc/control_profile.h b/src/main/fc/controlrate_profile.h → src/main/fc/control_profile.h
@@ -21,16 +21,16 @@
 
 #include "config/parameter_group.h"
 
-#include "fc/controlrate_profile_config_struct.h"
+#include "fc/control_profile_config_struct.h"
 #include "fc/settings.h"
 
-#define MAX_CONTROL_RATE_PROFILE_COUNT SETTING_CONSTANT_MAX_CONTROL_RATE_PROFILE_COUNT
+#define MAX_CONTROL_PROFILE_COUNT SETTING_CONSTANT_MAX_CONTROL_PROFILE_COUNT
 
-PG_DECLARE_ARRAY(controlRateConfig_t, MAX_CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);
+PG_DECLARE_ARRAY(controlConfig_t, MAX_CONTROL_PROFILE_COUNT, controlProfiles);
 
-extern const controlRateConfig_t *currentControlRateProfile;
+extern const controlConfig_t *currentControlProfile;
 
-void setControlRateProfile(uint8_t profileIndex);
-void changeControlRateProfile(uint8_t profileIndex);
-void activateControlRateConfig(void);
-uint8_t getCurrentControlRateProfile(void);
+void setControlProfile(uint8_t profileIndex);
+void changeControlProfile(uint8_t profileIndex);
+void activateControlConfig(void);
+uint8_t getCurrentControlProfile(void);
diff --git a/...in/fc/controlrate_profile_config_struct.h → src/main/fc/control_profile_config_struct.h b/...in/fc/controlrate_profile_config_struct.h → src/main/fc/control_profile_config_struct.h
@@ -23,7 +23,7 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-typedef struct controlRateConfig_s {
+typedef struct controlConfig_s {
 
     struct {
         uint8_t rcMid8;
@@ -61,4 +61,4 @@ typedef struct controlRateConfig_s {
     } rateDynamics;
 #endif
 
-} controlRateConfig_t;
+} controlConfig_t;
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
@@ -54,7 +54,7 @@
 #include "fc/fc_core.h"
 #include "fc/cli.h"
 #include "fc/config.h"
-#include "fc/controlrate_profile.h"
+#include "fc/control_profile.h"
 #include "fc/multifunction.h"
 #include "fc/rc_adjustments.h"
 #include "fc/rc_smoothing.h"
@@ -391,15 +391,15 @@ static void processPilotAndFailSafeActions(float dT)
     }
     else {
         // Compute ROLL PITCH and YAW command
-        rcCommand[ROLL] = getAxisRcCommand(rxGetChannelValue(ROLL), FLIGHT_MODE(MANUAL_MODE) ? currentControlRateProfile->manual.rcExpo8 : currentControlRateProfile->stabilized.rcExpo8, rcControlsConfig()->deadband);
-        rcCommand[PITCH] = getAxisRcCommand(rxGetChannelValue(PITCH), FLIGHT_MODE(MANUAL_MODE) ? currentControlRateProfile->manual.rcExpo8 : currentControlRateProfile->stabilized.rcExpo8, rcControlsConfig()->deadband);
-        rcCommand[YAW] = -getAxisRcCommand(rxGetChannelValue(YAW), FLIGHT_MODE(MANUAL_MODE) ? currentControlRateProfile->manual.rcYawExpo8 : currentControlRateProfile->stabilized.rcYawExpo8, rcControlsConfig()->yaw_deadband);
+        rcCommand[ROLL] = getAxisRcCommand(rxGetChannelValue(ROLL), FLIGHT_MODE(MANUAL_MODE) ? currentControlProfile->manual.rcExpo8 : currentControlProfile->stabilized.rcExpo8, rcControlsConfig()->deadband);
+        rcCommand[PITCH] = getAxisRcCommand(rxGetChannelValue(PITCH), FLIGHT_MODE(MANUAL_MODE) ? currentControlProfile->manual.rcExpo8 : currentControlProfile->stabilized.rcExpo8, rcControlsConfig()->deadband);
+        rcCommand[YAW] = -getAxisRcCommand(rxGetChannelValue(YAW), FLIGHT_MODE(MANUAL_MODE) ? currentControlProfile->manual.rcYawExpo8 : currentControlProfile->stabilized.rcYawExpo8, rcControlsConfig()->yaw_deadband);
 
         // Apply manual control rates
         if (FLIGHT_MODE(MANUAL_MODE)) {
-            rcCommand[ROLL] = rcCommand[ROLL] * currentControlRateProfile->manual.rates[FD_ROLL] / 100L;
-            rcCommand[PITCH] = rcCommand[PITCH] * currentControlRateProfile->manual.rates[FD_PITCH] / 100L;
-            rcCommand[YAW] = rcCommand[YAW] * currentControlRateProfile->manual.rates[FD_YAW] / 100L;
+            rcCommand[ROLL] = rcCommand[ROLL] * currentControlProfile->manual.rates[FD_ROLL] / 100L;
+            rcCommand[PITCH] = rcCommand[PITCH] * currentControlProfile->manual.rates[FD_PITCH] / 100L;
+            rcCommand[YAW] = rcCommand[YAW] * currentControlProfile->manual.rates[FD_YAW] / 100L;
         } else {
             DEBUG_SET(DEBUG_RATE_DYNAMICS, 0, rcCommand[ROLL]);
             rcCommand[ROLL] = applyRateDynamics(rcCommand[ROLL], ROLL, dT);
@@ -656,7 +656,7 @@ void processRx(timeUs_t currentTimeUs)
     if (!cliMode) {
         bool canUseRxData = rxIsReceivingSignal() && !FLIGHT_MODE(FAILSAFE_MODE);
         updateAdjustmentStates(canUseRxData);
-        processRcAdjustments(CONST_CAST(controlRateConfig_t*, currentControlRateProfile), canUseRxData);
+        processRcAdjustments(CONST_CAST(controlConfig_t*, currentControlProfile), canUseRxData);
     }
 
     // Angle mode forced on briefly after emergency inflight rearm to help stabilise attitude (currently limited to MR)