From 31b1929588ba5d153a115984da87eb6093f03efd Mon Sep 17 00:00:00 2001
From: Raffi1202 <250872901+Raffi1202@users.noreply.github.com>
Date: Wed, 23 Sep 2026 15:53:38 +0200
Subject: [PATCH 1/2] Mixer wizard: check each motor's spin direction after
 locating it

DShot only. After the positions are known every output is spun for two
seconds and the user confirms the direction against the arrows or reverses
it, which flips that output's bit in dshot_reversed_motors. The firmware
re-sends the direction commands on its own; nothing is written to the ESC.
Hidden on PWM ESCs and on firmware without the setting.
---
 locale/de/messages.json |  18 +++++++
 locale/en/messages.json |  18 +++++++
 src/css/tabs/mixer.css  |   7 +++
 tabs/mixer.html         |  19 +++++++
 tabs/mixer.js           | 115 ++++++++++++++++++++++++++++++++++++++--
 5 files changed, 172 insertions(+), 5 deletions(-)

diff --git a/locale/de/messages.json b/locale/de/messages.json
index 95a070fa4..38f674a3b 100644
--- a/locale/de/messages.json
+++ b/locale/de/messages.json
@@ -5402,6 +5402,24 @@
     "mixerWizardStop": {
         "message": "Not-Stopp"
     },
+    "mixerWizardDirectionQuestion": {
+        "message": "dreht. Dreht er so, wie der Pfeil an seiner Position zeigt?"
+    },
+    "mixerWizardDirectionHint": {
+        "message": "„Umkehren“ weist den ESC per DShot-Befehl an, andersherum zu drehen; im ESC selbst wird nichts geändert. Danach den Mixer speichern, damit es erhalten bleibt."
+    },
+    "mixerWizardDirectionSpin": {
+        "message": "Nochmals drehen"
+    },
+    "mixerWizardDirectionCorrect": {
+        "message": "Dreht richtig"
+    },
+    "mixerWizardDirectionReverse": {
+        "message": "Umkehren"
+    },
+    "mixerWizardDirectionSkip": {
+        "message": "Richtungsprüfung überspringen"
+    },
     "settings": {
         "message": "Einstellungen"
     },
diff --git a/locale/en/messages.json b/locale/en/messages.json
index e9392b784..17b670dbb 100644
--- a/locale/en/messages.json
+++ b/locale/en/messages.json
@@ -5852,6 +5852,24 @@
     "mixerWizardStop": {
         "message": "Emergency Stop"
     },
+    "mixerWizardDirectionQuestion": {
+        "message": "is spinning. Does it turn the way the arrow at its position shows?"
+    },
+    "mixerWizardDirectionHint": {
+        "message": "Reverse tells that ESC to spin the other way with a DShot command; nothing is changed in the ESC itself. Save the mixer afterwards to keep it."
+    },
+    "mixerWizardDirectionSpin": {
+        "message": "Spin again"
+    },
+    "mixerWizardDirectionCorrect": {
+        "message": "Turns correctly"
+    },
+    "mixerWizardDirectionReverse": {
+        "message": "Reverse"
+    },
+    "mixerWizardDirectionSkip": {
+        "message": "Skip direction check"
+    },
     "settings": {
         "message": "Settings"
     },
diff --git a/src/css/tabs/mixer.css b/src/css/tabs/mixer.css
index c6f16e478..d5605a5b7 100644
--- a/src/css/tabs/mixer.css
+++ b/src/css/tabs/mixer.css
@@ -252,6 +252,13 @@
     border-color: #1e8449;
 }
 
+/* Position button of the motor whose spin direction is being checked */
+.wizard-position-btn.checking {
+    background-color: #f39c12;
+    border-color: #d68910;
+    animation: pulse 1s infinite;
+}
+
 @keyframes pulse {
     0%, 100% { transform: scale(1); }
     50% { transform: scale(1.15); }
diff --git a/tabs/mixer.html b/tabs/mixer.html
index 372187d05..0bc2c8ed9 100644
--- a/tabs/mixer.html
+++ b/tabs/mixer.html
@@ -246,6 +246,25 @@ <h1 class="modal__title modal__title--warning" data-i18n="mixerWizardModalTitle"
                     </div>
                 </div>
 
+                <!-- Direction check (DShot only, shown once every motor has been located) -->
+                <div id="wizard-direction" class="wizard-section is-hidden">
+                    <p class="wizard-prompt">
+                        <span data-i18n="mixerWizardLocating"></span>
+                        <strong id="wizard-direction-motor">1</strong>
+                        <span data-i18n="mixerWizardDirectionQuestion"></span>
+                    </p>
+                    <p data-i18n="mixerWizardDirectionHint"></p>
+                    <div class="wizard-buttons">
+                        <a id="wizard-direction-spin" class="modal__button" data-i18n="mixerWizardDirectionSpin"></a>
+                        <a id="wizard-direction-ok" class="modal__button modal__button--main" data-i18n="mixerWizardDirectionCorrect"></a>
+                        <a id="wizard-direction-reverse" class="modal__button" data-i18n="mixerWizardDirectionReverse"></a>
+                    </div>
+                    <div class="wizard-buttons">
+                        <a id="wizard-direction-skip" class="modal__button" data-i18n="mixerWizardDirectionSkip"></a>
+                        <a id="wizard-direction-stop" class="modal__button modal__button--warning" data-i18n="mixerWizardStop"></a>
+                    </div>
+                </div>
+
                 <!-- Wizard complete (shown when all motors identified) -->
                 <div id="wizard-complete" class="wizard-section is-hidden">
                     <p data-i18n="mixerWizardComplete"></p>
diff --git a/tabs/mixer.js b/tabs/mixer.js
index c15de0259..a455d9fb0 100644
--- a/tabs/mixer.js
+++ b/tabs/mixer.js
@@ -682,7 +682,11 @@ mixerTab.initialize = function (callback, scrollPosition) {
             motorPositions: {},     // Map: motorIndex -> positionIndex
             locateInterval: null,   // Interval for repeating locate command
             isActive: false,        // Is wizard in progress?
-            savedDshotBeeper: null  // Original dshot_beeper_enabled value to restore
+            savedDshotBeeper: null, // Original dshot_beeper_enabled value to restore
+            directionAvailable: false, // DShot with a firmware that has dshot_reversed_motors
+            directionMotor: 0,      // Which motor's spin direction is being checked
+            directionTimer: null,   // Timeout that ends a direction spin or delays the next one
+            reversedMask: 0         // dshot_reversed_motors as currently set in the FC
         };
 
         function sendMotorValues(motorIndex, value) {
@@ -712,6 +716,7 @@ mixerTab.initialize = function (callback, scrollPosition) {
 
             $('#wizard-intro').removeClass('is-hidden');
             $('#wizard-progress').addClass('is-hidden');
+            $('#wizard-direction').addClass('is-hidden');
             $('#wizard-complete').addClass('is-hidden');
 
             // Regenerate progress steps for this motor count
@@ -803,7 +808,11 @@ mixerTab.initialize = function (callback, scrollPosition) {
 
             if (wizardState.currentMotor >= currentMixerPreset.motorMixer.length) {
                 // All motors identified
-                wizardComplete();
+                if (wizardState.directionAvailable) {
+                    startDirectionCheck();
+                } else {
+                    wizardComplete();
+                }
             } else {
                 // Start locating next motor
                 startLocatingMotor(wizardState.currentMotor);
@@ -817,9 +826,87 @@ mixerTab.initialize = function (callback, scrollPosition) {
             $('.wizard-progress-step').removeClass('active').addClass('complete');
 
             $('#wizard-progress').addClass('is-hidden');
+            $('#wizard-direction').addClass('is-hidden');
             $('#wizard-complete').removeClass('is-hidden');
         }
 
+        // Direction check, DShot only. Once the positions are known each output is spun for a
+        // moment and the user says whether it turns the way the arrows show. "Reverse" flips
+        // that output's bit in dshot_reversed_motors; the firmware sends the new direction
+        // commands within about 100 ms of the change, so the next spin shows the result.
+        // Nothing is written to the ESC itself.
+        const DIRECTION_SPIN_MS = 2000;
+        const DIRECTION_APPLY_DELAY_MS = 300;
+
+        function stopDirectionSpin() {
+            if (wizardState.directionTimer) {
+                clearTimeout(wizardState.directionTimer);
+                wizardState.directionTimer = null;
+            }
+            stopMotors();
+        }
+
+        function spinMotorForDirection(motorIndex) {
+            stopDirectionSpin();
+            if (!wizardState.isActive) return;
+
+            const spinValue = Math.round(FC.MISC.mincommand + 0.15 * (FC.MISC.maxthrottle - FC.MISC.mincommand));
+            sendMotorValues(motorIndex, spinValue);
+            wizardState.locateInterval = setInterval(function() {
+                sendMotorValues(motorIndex, spinValue);
+            }, 50);
+            wizardState.directionTimer = setTimeout(stopDirectionSpin, DIRECTION_SPIN_MS);
+        }
+
+        function showDirectionMotor(motorIndex) {
+            $('#wizard-direction-motor').text(motorIndex + 1);
+            $('.wizard-position-btn').removeClass('checking');
+            $(`#wizardPos${wizardState.motorPositions[motorIndex]}`).addClass('checking');
+            spinMotorForDirection(motorIndex);
+        }
+
+        function startDirectionCheck() {
+            wizardState.directionMotor = 0;
+            $('#wizard-progress').addClass('is-hidden');
+            $('#wizard-direction').removeClass('is-hidden');
+            showDirectionMotor(0);
+        }
+
+        function endDirectionCheck() {
+            stopDirectionSpin();
+            $('.wizard-position-btn').removeClass('checking');
+            wizardComplete();
+        }
+
+        $('#wizard-direction-spin').on('click', function() {
+            spinMotorForDirection(wizardState.directionMotor);
+        });
+
+        $('#wizard-direction-ok').on('click', function() {
+            stopDirectionSpin();
+            wizardState.directionMotor++;
+            if (wizardState.directionMotor >= currentMixerPreset.motorMixer.length) {
+                endDirectionCheck();
+            } else {
+                showDirectionMotor(wizardState.directionMotor);
+            }
+        });
+
+        $('#wizard-direction-reverse').on('click', function() {
+            stopDirectionSpin();
+            const motorIndex = wizardState.directionMotor;
+            wizardState.reversedMask ^= (1 << motorIndex);
+            mspHelper.setSetting('dshot_reversed_motors', wizardState.reversedMask, function() {
+                // Give the firmware time to notice the change and get the command frames out
+                wizardState.directionTimer = setTimeout(function() {
+                    wizardState.directionTimer = null;
+                    spinMotorForDirection(motorIndex);
+                }, DIRECTION_APPLY_DELAY_MS);
+            });
+        });
+
+        $('#wizard-direction-skip').on('click', endDirectionCheck);
+
         // Position button click handler — delegated so it works on dynamically generated buttons
         $('.wizard-motor-preview').on('click', '.wizard-position-btn', function() {
             if (!$(this).hasClass('waiting')) return;
@@ -855,8 +942,8 @@ mixerTab.initialize = function (callback, scrollPosition) {
         });
 
         // Emergency stop button click handler
-        $('#wizard-stop-button').on('click', function() {
-            stopMotors();
+        $('#wizard-stop-button, #wizard-direction-stop').on('click', function() {
+            stopDirectionSpin();
             motorWizardModal.close();
         });
 
@@ -904,11 +991,29 @@ mixerTab.initialize = function (callback, scrollPosition) {
             }
 
             buildPositionButtons(positions);
+
+            // The direction step needs DShot and a firmware that knows the setting; anything
+            // else (older firmware, PWM ESCs) just ends the wizard after the positions
+            wizardState.directionAvailable = false;
+            wizardState.reversedMask = 0;
+            Promise.all([
+                mspHelper.getSetting('motor_pwm_protocol'),
+                mspHelper.getSetting('dshot_reversed_motors'),
+            ]).then(function([protocol, reversed]) {
+                if (!protocol || !reversed || !protocol.setting.table) return;
+                const protocolName = protocol.setting.table.values[protocol.value] || '';
+                if (protocolName.startsWith('DSHOT')) {
+                    wizardState.directionAvailable = true;
+                    wizardState.reversedMask = reversed.value;
+                }
+            }).catch(function() {
+                // Setting unknown to this firmware: keep the direction step off
+            });
         };
 
         // Clean up when modal closes
         motorWizardModal.options.onClose = function() {
-            stopMotors();
+            stopDirectionSpin();
             wizardState.isActive = false;
 
             // Restore DShot beeper if it was enabled before the wizard

From 1b0a155cd51b2fe38f07f2e8a49100f2acc582f2 Mon Sep 17 00:00:00 2001
From: Raffi1202 <250872901+Raffi1202@users.noreply.github.com>
Date: Wed, 23 Sep 2026 16:07:45 +0200
Subject: [PATCH 2/2] Mixer wizard: fallback text in the direction buttons

---
 tabs/mixer.html | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/tabs/mixer.html b/tabs/mixer.html
index 0bc2c8ed9..9503a0c51 100644
--- a/tabs/mixer.html
+++ b/tabs/mixer.html
@@ -255,13 +255,13 @@ <h1 class="modal__title modal__title--warning" data-i18n="mixerWizardModalTitle"
                     </p>
                     <p data-i18n="mixerWizardDirectionHint"></p>
                     <div class="wizard-buttons">
-                        <a id="wizard-direction-spin" class="modal__button" data-i18n="mixerWizardDirectionSpin"></a>
-                        <a id="wizard-direction-ok" class="modal__button modal__button--main" data-i18n="mixerWizardDirectionCorrect"></a>
-                        <a id="wizard-direction-reverse" class="modal__button" data-i18n="mixerWizardDirectionReverse"></a>
+                        <a id="wizard-direction-spin" class="modal__button" data-i18n="mixerWizardDirectionSpin">Spin again</a>
+                        <a id="wizard-direction-ok" class="modal__button modal__button--main" data-i18n="mixerWizardDirectionCorrect">Turns correctly</a>
+                        <a id="wizard-direction-reverse" class="modal__button" data-i18n="mixerWizardDirectionReverse">Reverse</a>
                     </div>
                     <div class="wizard-buttons">
-                        <a id="wizard-direction-skip" class="modal__button" data-i18n="mixerWizardDirectionSkip"></a>
-                        <a id="wizard-direction-stop" class="modal__button modal__button--warning" data-i18n="mixerWizardStop"></a>
+                        <a id="wizard-direction-skip" class="modal__button" data-i18n="mixerWizardDirectionSkip">Skip direction check</a>
+                        <a id="wizard-direction-stop" class="modal__button modal__button--warning" data-i18n="mixerWizardStop">Emergency Stop</a>
                     </div>
                 </div>