diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index bf6aeb40cb..56f2a7027f 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -190,9 +190,6 @@ tables:
   - name: nav_fw_wp_turn_smoothing
     values: ["OFF", "ON", "ON-CUT"]
     enum: wpFwTurnSmoothing_e
-  - name: mixer_switch_on_event
-    values: ["OFF", "ON", "ON_FS_ONLY"]
-    enum: mixerProfileSwitchOnEvent_e
 
 constants:
   RPYL_PID_MIN: 0
@@ -1178,16 +1175,14 @@ groups:
         type: bool
       - name: mixer_switch_on_rth
         description: "If set to on, mixer_profile will switch when it is heading home"
-        default_value: "OFF"
+        default_value: OFF
         field: mixer_config.switchOnRTH
-        table: mixer_switch_on_event
-        type: uint8_t
+        type: bool
       - name: mixer_switch_on_land
         description: "If set to on, mixer_profile will switch when Landing"
-        default_value: "OFF"
+        default_value: OFF
         field: mixer_config.switchOnLand
-        table: mixer_switch_on_event
-        type: uint8_t
+        type: bool
       - name: mixer_switch_trans_timer
         description: "If swith mixer_profile on failsafe is required, Activate MixerTransion mode for this many decisecond(0.1s) before the actual mixer_profile switch"
         default_value: 0
diff --git a/src/main/flight/mixer_profile.c b/src/main/flight/mixer_profile.c
index e264012e8c..044cb027ab 100644
--- a/src/main/flight/mixer_profile.c
+++ b/src/main/flight/mixer_profile.c
@@ -93,7 +93,7 @@ void mixerConfigInit(void)
         setConfigProfile(getConfigMixerProfile());
         pidInit();
         pidInitFilters();
-        pidResetErrorAccumulators();
+        // pidResetErrorAccumulators();
         schedulePidGainsUpdate();
         navigationUsePIDs(); // set navigation pid gains
     }
@@ -118,24 +118,16 @@ bool checkMixerATRequired(mixerProfileATRequest_e required_action)
         return false;
     }
 
-    if ((required_action == MIXERAT_REQUEST_RTH) && (currentMixerConfig.switchOnRTH!=MIXERAT_ON_EVENT_OFF) && STATE(MULTIROTOR))
+    if ((required_action == MIXERAT_REQUEST_RTH) && (currentMixerConfig.switchOnRTH) && STATE(MULTIROTOR))
     {
-        if ((currentMixerConfig.switchOnRTH==MIXERAT_ON_EVENT_ON_FS_ONLY) && (!FLIGHT_MODE(FAILSAFE_MODE)))
-        {
-            return false;
-        }
-        //check next mixer_profile setting is valid
-        return mixerConfigByIndex(nextProfileIndex)->switchOnRTH == MIXERAT_ON_EVENT_OFF ? true:false; 
+        //check next mixer_profile setting is valid, need to be false
+        return mixerConfigByIndex(nextProfileIndex)->switchOnRTH? false:true; 
 
     }
-    else if ((required_action == MIXERAT_REQUEST_LAND) && (currentMixerConfig.switchOnLand!=MIXERAT_ON_EVENT_OFF) && STATE(AIRPLANE))
+    else if ((required_action == MIXERAT_REQUEST_LAND) && (currentMixerConfig.switchOnLand) && STATE(AIRPLANE))
     {
-        if ((currentMixerConfig.switchOnLand==MIXERAT_ON_EVENT_ON_FS_ONLY) && (!FLIGHT_MODE(FAILSAFE_MODE)))
-        {
-            return false;
-        }
-        //check next mixer_profile setting is valid
-        return mixerConfigByIndex(nextProfileIndex)->switchOnLand == MIXERAT_ON_EVENT_OFF ? true:false; 
+        //check next mixer_profile setting is valid, need to be false
+        return mixerConfigByIndex(nextProfileIndex)->switchOnLand? false:true; 
     }
     return false;
 }
diff --git a/src/main/flight/mixer_profile.h b/src/main/flight/mixer_profile.h
index b6016e7286..89d85ae7ab 100644
--- a/src/main/flight/mixer_profile.h
+++ b/src/main/flight/mixer_profile.h
@@ -9,12 +9,6 @@
 #define MAX_MIXER_PROFILE_COUNT 2
 #endif
 
-typedef enum {
-    MIXERAT_ON_EVENT_OFF, //no request, stats checking only
-    MIXERAT_ON_EVENT_ON,
-    MIXERAT_ON_EVENT_ON_FS_ONLY,
-} mixerProfileSwitchOnEvent_e;
-
 typedef struct mixerConfig_s {
     int8_t motorDirectionInverted;
     uint8_t platformType;
@@ -23,8 +17,8 @@ typedef struct mixerConfig_s {
     uint8_t outputMode;
     bool motorstopOnLow;
     bool PIDProfileLinking;
-    mixerProfileSwitchOnEvent_e switchOnRTH;
-    mixerProfileSwitchOnEvent_e switchOnLand;
+    bool switchOnRTH;
+    bool switchOnLand;
     int16_t switchTransitionTimer;
 } mixerConfig_t;
 typedef struct mixerProfile_s {
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index c63504c807..1bed5e11ad 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -982,14 +982,22 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .mwError = MW_NAV_ERROR_NONE,
         .onEvent = {
             [NAV_FSM_EVENT_TIMEOUT]                        = NAV_STATE_MIXERAT_IN_PROGRESS,    // re-process the state
-            [NAV_FSM_EVENT_SWITCH_TO_IDLE]                 = NAV_STATE_IDLE,
-            [NAV_FSM_EVENT_SWITCH_TO_RTH_HEAD_HOME]        = NAV_STATE_RTH_HEAD_HOME,    // re-process the state
-            [NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING]          = NAV_STATE_RTH_LANDING,
+            [NAV_FSM_EVENT_SWITCH_TO_RTH_HEAD_HOME]        = NAV_STATE_RTH_HEAD_HOME, //switch to its pending state
+            [NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING]          = NAV_STATE_RTH_LANDING, //switch to its pending state
+            [NAV_FSM_EVENT_SWITCH_TO_IDLE]                 = NAV_STATE_MIXERAT_ABORT,
+            [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]              = NAV_STATE_MIXERAT_ABORT,
+            [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D]           = NAV_STATE_MIXERAT_ABORT,
+            [NAV_FSM_EVENT_SWITCH_TO_RTH]                  = NAV_STATE_MIXERAT_ABORT,
+            [NAV_FSM_EVENT_SWITCH_TO_WAYPOINT]             = NAV_STATE_MIXERAT_ABORT,
+            [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING]    = NAV_STATE_MIXERAT_ABORT,
+            [NAV_FSM_EVENT_SWITCH_TO_LAUNCH]               = NAV_STATE_MIXERAT_ABORT,
+            [NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD]          = NAV_STATE_MIXERAT_ABORT,
+            [NAV_FSM_EVENT_SWITCH_TO_CRUISE]               = NAV_STATE_MIXERAT_ABORT,
         }
     },
     [NAV_STATE_MIXERAT_ABORT] = {
         .persistentId = NAV_PERSISTENT_ID_MIXERAT_ABORT,
-        .onEntry = navOnEnteringState_NAV_STATE_MIXERAT_ABORT,
+        .onEntry = navOnEnteringState_NAV_STATE_MIXERAT_ABORT, //will not switch to its pending state
         .timeoutMs = 10,
         .stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
         .mapToFlightModes = NAV_ALTHOLD_MODE,