inav/docs/Settings.md

CLI Variable Reference

Variable Name	Default Value	Min	Max	Description
3d_deadband_high	1514	PWM_RANGE_MIN	PWM_RANGE_MAX	High value of throttle deadband for 3D mode (when stick is in the deadband range, the value in 3d_neutral is used instead)
3d_deadband_low	1406	PWM_RANGE_MIN	PWM_RANGE_MAX	Low value of throttle deadband for 3D mode (when stick is in the 3d_deadband_throttle range, the fixed values of 3d_deadband_low / _high are used instead)
3d_deadband_throttle	50	0	200	Throttle signal will be held to a fixed value when throttle is centered with an error margin defined in this parameter.
3d_neutral	1460	PWM_RANGE_MIN	PWM_RANGE_MAX	Neutral (stop) throttle value for 3D mode
acc_event_threshold_high	0	0	65535	Acceleration threshold [cm/s/s] for impact / high g event text messages sent by SIM module. Acceleration values greater than 4 g can occur in fixed wing flight without an impact, so a setting of 4000 or greater is suggested. 0 = detection off.
acc_event_threshold_low	0	0	900	Acceleration threshold [cm/s/s] for low-g / freefall detection text messages sent by SIM module. A setting of less than 100 is suggested. Valid values: [0-900], 0 = detection off.
acc_event_threshold_neg_x	0	0	65535	Acceleration threshold [cm/s/s] for backwards acceleration / fixed wing landing detection text messages sent by SIM module. Suggested value for fixed wing: 1100. 0 = detection off.
acc_hardware	AUTO			Selection of acc hardware. See Wiki Sensor auto detect and hardware failure detection for more info
acc_lpf_hz	15	0	200	Software-based filter to remove mechanical vibrations from the accelerometer measurements. Value is cutoff frequency (Hz). For larger frames with bigger props set to lower value.
acc_lpf_type	BIQUAD			Specifies the type of the software LPF of the acc signals. BIQUAD gives better filtering and more delay, PT1 less filtering and less delay, so use only on clean builds.
acc_notch_cutoff	1	1	255
acc_notch_hz	0	0	255
accgain_x	4096	1	8192	Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.
accgain_y	4096	1	8192	Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.
accgain_z	4096	1	8192	Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.
acczero_x	0	-32768	32767	Calculated value after '6 position avanced calibration'. See Wiki page.
acczero_y	0	-32768	32767	Calculated value after '6 position avanced calibration'. See Wiki page.
acczero_z	0	-32768	32767	Calculated value after '6 position avanced calibration'. See Wiki page.
airmode_throttle_threshold	1300	1000	2000	Defines airmode THROTTLE activation threshold when airmode_type THROTTLE_THRESHOLD is used
airmode_type	STICK_CENTER			Defines the Airmode state handling type. Default STICK_CENTER is the classical approach in which Airmode is always active if enabled, but when the throttle is low and ROLL/PITCH/YAW sticks are centered, Iterms is not allowed to grow (ANTI_WINDUP). THROTTLE_THRESHOLD is the Airmode behavior known from Betaflight. In this mode, Airmode is active as soon THROTTLE position is above airmode_throttle_threshold and stays active until disarm. ANTI_WINDUP is never triggered. For small Multirotors (up to 7-inch propellers) it is suggested to switch to THROTTLE_THRESHOLD since it keeps full stabilization no matter what pilot does with the sticks. Fixed Wings always use STICK_CENTER_ONCE or STICK_CENTER modes.
airspeed_adc_channel	target default	ADC_CHN_NONE	ADC_CHN_MAX	ADC channel to use for analog pitot tube (airspeed) sensor. If board doesn't have a dedicated connector for analog airspeed sensor will default to 0
align_acc	DEFAULT			When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP.
align_board_pitch	0	-1800	3600	Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc
align_board_roll	0	-1800	3600	Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc
align_board_yaw	0	-1800	3600	Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc
align_gyro	DEFAULT			When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP.
align_mag	DEFAULT			When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP.
align_mag_pitch	0	-1800	3600	Same as align_mag_roll, but for the pitch axis.
align_mag_roll	0	-1800	3600	Set the external mag alignment on the roll axis (in 0.1 degree steps). If this value is non-zero, the compass is assumed to be externally mounted and both the board and on-board compass alignent (align_mag) are ignored. See also align_mag_pitch and align_mag_yaw.
align_mag_yaw	0	-1800	3600	Same as align_mag_roll, but for the yaw axis.
align_opflow	CW0FLIP			Optical flow module alignment (default CW0_DEG_FLIP)
alt_hold_deadband	50	10	250	Defines the deadband of throttle during alt_hold [r/c points]
antigravity_accelerator	1	1	20
antigravity_cutoff_lpf_hz	15	1	30	Antigravity cutoff frequenct for Throtte filter. Antigravity is based on the difference between actual and filtered throttle input. The bigger is the difference, the bigger Antigravity gain
antigravity_gain	1	1	20	Max Antigravity gain. 1 means Antigravity is disabled, 2 means Iterm is allowed to double during rapid throttle movements
applied_defaults	0	0	3	Internal (configurator) hint. Should not be changed manually
baro_cal_tolerance	150	0	1000	Baro calibration tolerance in cm. The default should allow the noisiest baro to complete calibration [cm].
baro_hardware	AUTO			Selection of baro hardware. See Wiki Sensor auto detect and hardware failure detection for more info
baro_median_filter	ON			3-point median filtering for barometer readouts. No reason to change this setting
bat_cells	0	0	12	Number of cells of the battery (0 = auto-detect), see battery documentation. 7S, 9S and 11S batteries cannot be auto-detected.
bat_voltage_src	RAW			Chose between raw and sag compensated battery voltage to use for battery alarms and telemetry. Possible values are RAW and SAG_COMP
battery_capacity	0	0	4294967295	Set the battery capacity in mAh or mWh (see battery_capacity_unit). Used to calculate the remaining battery capacity.
battery_capacity_critical	0	0	4294967295	If the remaining battery capacity goes below this threshold the battery is considered empty and the beeper will emit long beeps.
battery_capacity_unit	MAH			Unit used for battery_capacity, battery_capacity_warning and battery_capacity_critical [MAH/MWH] (milliAmpere hour / milliWatt hour).
battery_capacity_warning	0	0	4294967295	If the remaining battery capacity goes below this threshold the beeper will emit short beeps and the relevant OSD items will blink.
blackbox_device	target default			Selection of where to write blackbox data
blackbox_rate_denom	1	1	65535	Blackbox logging rate denominator. See blackbox_rate_num.
blackbox_rate_num	1	1	65535	Blackbox logging rate numerator. Use num/denom settings to decide if a frame should be logged, allowing control of the portion of logged loop iterations
cpu_underclock	OFF			This option is only available on certain architectures (F3 CPUs at the moment). It makes CPU clock lower to reduce interference to long-range RC systems working at 433MHz
cruise_power	0	0	4294967295	Power draw at cruise throttle used for remaining flight time/distance estimation in 0.01W unit
current_adc_channel	target default	ADC_CHN_NONE	ADC_CHN_MAX	ADC channel to use for analog current sensor input. Defaults to board CURRENT sensor input (if available). 0 = disabled
current_meter_offset	target default	-32768	32767	This sets the output offset voltage of the current sensor in millivolts.
current_meter_scale	target default	-10000	10000	This sets the output voltage to current scaling for the current sensor in 0.1 mV/A steps. 400 is 40mV/A such as the ACS756 sensor outputs. 183 is the setting for the uberdistro with a 0.25mOhm shunt.
current_meter_type	ADC			ADC , VIRTUAL, NONE. The virtual current sensor, once calibrated, estimates the current value from throttle position.
d_boost_factor	1.25	1	3
d_boost_gyro_delta_lpf_hz	80	10	250
d_boost_max_at_acceleration	7500	1000	16000
deadband	5	0	32	These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle.
debug_mode	NONE			Defines debug values exposed in debug variables (developer / debugging setting)
disarm_kill_switch	ON			Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel.
display_force_sw_blink	OFF			OFF = OSD hardware blink / ON = OSD software blink. If OSD warning text/values are invisible, try setting this to ON
dji_esc_temp_source	ESC			Re-purpose the ESC temperature field for IMU/BARO temperature
dji_speed_source	GROUND			Sets the speed type displayed by the DJI OSD: GROUND, 3D, AIR
dji_use_name_for_messages	ON			Re-purpose the craft name field for messages. Replace craft name with :WTSED for Warnings
dji_workarounds	1	0	255	Enables workarounds for different versions of MSP protocol used
dshot_beeper_enabled	ON			Whether using DShot motors as beepers is enabled
dshot_beeper_tone	1	1	5	Sets the DShot beeper tone
dterm_lpf2_hz	0	0	500	Cutoff frequency for stage 2 D-term low pass filter
dterm_lpf2_type	BIQUAD			Defines the type of stage 1 D-term LPF filter. Possible values: PT1, BIQUAD. PT1 offers faster filter response while BIQUAD better attenuation.
dterm_lpf_hz	40	0	500	Dterm low pass filter cutoff frequency. Default setting is very conservative and small multirotors should use higher value between 80 and 100Hz. 80 seems like a gold spot for 7-inch builds while 100 should work best with 5-inch machines. If motors are getting too hot, lower the value
dterm_lpf_type	BIQUAD			Defines the type of stage 1 D-term LPF filter. Possible values: PT1, BIQUAD. PT1 offers faster filter response while BIQUAD better attenuation.
dynamic_gyro_notch_enabled	OFF			Enable/disable dynamic gyro notch also known as Matrix Filter
dynamic_gyro_notch_min_hz	150	30	1000	Minimum frequency for dynamic notches. Default value of 150 works best with 5" multirors. Should be lowered with increased size of propellers. Values around 100 work fine on 7" drones. 10" can go down to 60 - 70
dynamic_gyro_notch_q	120	1	1000	Q factor for dynamic notches
dynamic_gyro_notch_range	MEDIUM			Range for dynamic gyro notches. MEDIUM for 5", HIGH for 3" and MEDIUM/LOW for 7" and bigger propellers
eleres_freq	435	415	450
eleres_loc_delay	240	30	1800
eleres_loc_en	OFF
eleres_loc_power	7	0	7
eleres_signature	0		4294967295
eleres_telemetry_en	OFF
eleres_telemetry_power	7	0	7
esc_sensor_listen_only	OFF			Enable when BLHeli32 Auto Telemetry function is used. Disable in every other case
failsafe_delay	5	0	200	Time in deciseconds to wait before activating failsafe when signal is lost. See Failsafe documentation.
failsafe_fw_pitch_angle	100	-800	800	Amount of dive/climb when SET-THR failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = climb
failsafe_fw_roll_angle	-200	-800	800	Amount of banking when SET-THR failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = left roll
failsafe_fw_yaw_rate	-45	-1000	1000	Requested yaw rate to execute when SET-THR failsafe is active on a fixed-wing machine. In deg/s. Negative values = left turn
failsafe_lights	ON			Enable or disable the lights when the FAILSAFE flight mode is enabled. The target needs to be compiled with USE_LIGHTS [ON/OFF].
failsafe_lights_flash_on_time	100	20	65535	Flash lights ON time in milliseconds when failsafe_lights is ON and FAILSAFE flight mode is enabled. [20-65535].
failsafe_lights_flash_period	1000	40	65535	Time in milliseconds between two flashes when failsafe_lights is ON and FAILSAFE flight mode is enabled [40-65535].
failsafe_min_distance	0	0	65000	If failsafe happens when craft is closer than this distance in centimeters from home, failsafe will not execute regular failsafe_procedure, but will execute procedure specified in failsafe_min_distance_procedure instead. 0 = Normal failsafe_procedure always taken.
failsafe_min_distance_procedure	DROP			What failsafe procedure to initiate in Stage 2 when craft is closer to home than failsafe_min_distance. See Failsafe documentation.
failsafe_mission	ON			If set to OFF the failsafe procedure won't be triggered and the mission will continue if the FC is in WP (automatic mission) mode
failsafe_off_delay	200	0	200	Time in deciseconds to wait before turning off motors when failsafe is activated. 0 = No timeout. See Failsafe documentation.
failsafe_procedure	SET-THR			What failsafe procedure to initiate in Stage 2. See Failsafe documentation.
failsafe_recovery_delay	5	0	200	Time in deciseconds to wait before aborting failsafe when signal is recovered. See Failsafe documentation.
failsafe_stick_threshold	50	0	500	Threshold for stick motion to consider failsafe condition resolved. If non-zero failsafe won't clear even if RC link is restored - you have to move sticks to exit failsafe.
failsafe_throttle	1000	PWM_RANGE_MIN	PWM_RANGE_MAX	Throttle level used for landing when failsafe is enabled. See Failsafe documentation.
failsafe_throttle_low_delay	0	0	300	If failsafe activated when throttle is low for this much time - bypass failsafe and disarm, in 10th of seconds. 0 = No timeout
fixed_wing_auto_arm	OFF			Auto-arm fixed wing aircraft on throttle above min_check, and disarming with stick commands are disabled, so power cycle is required to disarm. Requires enabled motorstop and no arm switch configured.
flaperon_throw_offset	200	FLAPERON_THROW_MIN	FLAPERON_THROW_MAX	Defines throw range in us for both ailerons that will be passed to servo mixer via input source 14 (FEATURE FLAPS) when FLAPERON mode is activated.
flip_over_after_crash_power_factor	65	0	100	flip over after crash power factor
fpv_mix_degrees	0	0	50
frsky_coordinates_format	0	0	FRSKY_FORMAT_NMEA	D-Series telemetry only: FRSKY_FORMAT_DMS (default), FRSKY_FORMAT_NMEA
frsky_default_latitude	0	-90	90	D-Series telemetry only: OpenTX needs a valid set of coordinates to show compass value. A fake value defined in this setting is sent while no fix is acquired.
frsky_default_longitude	0	-180	180	D-Series telemetry only: OpenTX needs a valid set of coordinates to show compass value. A fake value defined in this setting is sent while no fix is acquired.
frsky_pitch_roll	OFF			S.Port and D-Series telemetry: Send pitch and roll degrees*10 instead of raw accelerometer data
frsky_unit	METRIC			Not used? [METRIC/IMPERIAL]
frsky_vfas_precision	0	FRSKY_VFAS_PRECISION_LOW	FRSKY_VFAS_PRECISION_HIGH	D-Series telemetry only: Set to 1 to send raw VBat value in 0.1V resolution for receivers that can handle it, or 0 (default) to use the standard method
fw_autotune_ff_to_i_tc	600	100	5000	FF to I time (defines time for I to reach the same level of response as FF) [ms]
fw_autotune_ff_to_p_gain	10	0	100	FF to P gain (strength relationship) [%]
fw_autotune_overshoot_time	100	50	500	Time [ms] to detect sustained overshoot
fw_autotune_threshold	50	0	100	Threshold [%] of max rate to consider overshoot/undershoot detection
fw_autotune_undershoot_time	200	50	500	Time [ms] to detect sustained undershoot
fw_d_level	75	0	200	Fixed-wing attitude stabilisation HORIZON transition point
fw_d_pitch	0	0	200	Fixed wing rate stabilisation D-gain for PITCH
fw_d_roll	0	0	200	Fixed wing rate stabilisation D-gain for ROLL
fw_d_yaw	0	0	200	Fixed wing rate stabilisation D-gain for YAW
fw_ff_pitch	50	0	200	Fixed-wing rate stabilisation FF-gain for PITCH
fw_ff_roll	50	0	200	Fixed-wing rate stabilisation FF-gain for ROLL
fw_ff_yaw	60	0	200	Fixed-wing rate stabilisation FF-gain for YAW
fw_i_level	5	0	200	Fixed-wing attitude stabilisation low-pass filter cutoff
fw_i_pitch	7	0	200	Fixed-wing rate stabilisation I-gain for PITCH
fw_i_roll	7	0	200	Fixed-wing rate stabilisation I-gain for ROLL
fw_i_yaw	10	0	200	Fixed-wing rate stabilisation I-gain for YAW
fw_iterm_limit_stick_position	0.5	0	1	Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. 0 mean stick is in center position, 1 means it is fully deflected to either side
fw_iterm_throw_limit	165	FW_ITERM_THROW_LIMIT_MIN	FW_ITERM_THROW_LIMIT_MAX	Limits max/min I-term value in stabilization PID controller in case of Fixed Wing. It solves the problem of servo saturation before take-off/throwing the airplane into the air. By default, error accumulated in I-term can not exceed 1/3 of servo throw (around 165us). Set 0 to disable completely.
fw_level_pitch_trim	0	-10	10	Pitch trim for self-leveling flight modes. In degrees. +5 means airplane nose should be raised 5 deg from level
fw_loiter_direction	RIGHT			Direction of loitering: center point on right wing (clockwise - default), or center point on left wing (counterclockwise). If equal YAW then can be changed in flight using a yaw stick.
fw_min_throttle_down_pitch	0	0	450	Automatic pitch down angle when throttle is at 0 in angle mode. Progressively applied between cruise throttle and zero throttle (decidegrees)
fw_p_level	20	0	200	Fixed-wing attitude stabilisation P-gain
fw_p_pitch	5	0	200	Fixed-wing rate stabilisation P-gain for PITCH
fw_p_roll	5	0	200	Fixed-wing rate stabilisation P-gain for ROLL
fw_p_yaw	6	0	200	Fixed-wing rate stabilisation P-gain for YAW
fw_reference_airspeed	1500	300	6000	Reference airspeed. Set this to airspeed at which PIDs were tuned. Usually should be set to cruise airspeed. Also used for coordinated turn calculation if airspeed sensor is not present.
fw_tpa_time_constant	0	0	5000	TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. Planes with low thrust/weight ratio generally need higher time constant. Default is zero for compatibility with old setups
fw_turn_assist_pitch_gain	1	0	2	Gain required to keep constant pitch angle during coordinated turns (in TURN_ASSIST mode). Value significantly different from 1.0 indicates a problem with the airspeed calibration (if present) or value of fw_reference_airspeed parameter
fw_turn_assist_yaw_gain	1	0	2	Gain required to keep the yaw rate consistent with the turn rate for a coordinated turn (in TURN_ASSIST mode). Value significantly different from 1.0 indicates a problem with the airspeed calibration (if present) or value of fw_reference_airspeed parameter
fw_yaw_iterm_freeze_bank_angle	0	0	90	Yaw Iterm is frozen when bank angle is above this threshold [degrees]. This solves the problem of the rudder counteracting turns by partially disabling yaw stabilization when making banked turns. Setting to 0 (the default) disables this feature. Only applies when autopilot is not active and TURN ASSIST is disabled.
gps_auto_baud	ON			Automatic configuration of GPS baudrate(The specified baudrate in configured in ports will be used) when used with UBLOX GPS. When used with NAZA/DJI it will automatic detect GPS baudrate and change to it, ignoring the selected baudrate set in ports
gps_auto_config	ON			Enable automatic configuration of UBlox GPS receivers.
gps_dyn_model	AIR_1G			GPS navigation model: Pedestrian, Air_1g, Air_4g. Default is AIR_1G. Use pedestrian with caution, can cause flyaways with fast flying.
gps_min_sats	6	5	10	Minimum number of GPS satellites in view to acquire GPS_FIX and consider GPS position valid. Some GPS receivers appeared to be very inaccurate with low satellite count.
gps_provider	UBLOX			Which GPS protocol to be used, note that UBLOX is 5Hz and UBLOX7 is 10Hz (M8N).
gps_sbas_mode	NONE			Which SBAS mode to be used
gps_ublox_use_galileo	OFF			Enable use of Galileo satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires M8N and Ublox firmware 3.x (or later) [OFF/ON].
gyro_abg_alpha	0	0	1	Alpha factor for Gyro Alpha-Beta-Gamma filter
gyro_abg_boost	0.35	0	2	Boost factor for Gyro Alpha-Beta-Gamma filter
gyro_abg_half_life	0.5	0	10	Sample half-life for Gyro Alpha-Beta-Gamma filter
gyro_dyn_lpf_curve_expo	5	1	10	Expo value for the throttle-to-frequency mapping for Dynamic LPF
gyro_dyn_lpf_max_hz	500	40	1000	Maximum frequency of the gyro Dynamic LPF
gyro_dyn_lpf_min_hz	200	40	400	Minimum frequency of the gyro Dynamic LPF
gyro_hardware_lpf	256HZ			Hardware lowpass filter for gyro. This value should never be changed without a very strong reason! If you have to set gyro lpf below 256HZ, it means the frame is vibrating too much, and that should be fixed first.
gyro_lpf_hz	60		200	Software-based filter to remove mechanical vibrations from the gyro signal. Value is cutoff frequency (Hz). For larger frames with bigger props set to lower value.
gyro_lpf_type	BIQUAD			Specifies the type of the software LPF of the gyro signals. BIQUAD gives better filtering and more delay, PT1 less filtering and less delay, so use only on clean builds.
gyro_notch_cutoff	1	1	500
gyro_notch_hz	0		500
gyro_stage2_lowpass_hz	0	0	500	Software based second stage lowpass filter for gyro. Value is cutoff frequency (Hz)
gyro_stage2_lowpass_type	BIQUAD			Defines the type of stage 2 gyro LPF filter. Possible values: PT1, BIQUAD. PT1 offers faster filter response while BIQUAD better attenuation.
gyro_to_use	0	0	1
gyro_use_dyn_lpf	OFF			Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position.
has_flaps	OFF			Defines is UAV is capable of having flaps. If ON and AIRPLANE platform_type is used, FLAPERON flight mode will be available for the pilot
heading_hold_rate_limit	90	HEADING_HOLD_RATE_LIMIT_MIN	HEADING_HOLD_RATE_LIMIT_MAX	This setting limits yaw rotation rate that HEADING_HOLD controller can request from PID inner loop controller. It is independent from manual yaw rate and used only when HEADING_HOLD flight mode is enabled by pilot, RTH or WAYPOINT modes.
hott_alarm_sound_interval	5	0	120	Battery alarm delay in seconds for Hott telemetry
i2c_speed	400KHZ			This setting controls the clock speed of I2C bus. 400KHZ is the default that most setups are able to use. Some noise-free setups may be overclocked to 800KHZ. Some sensor chips or setups with long wires may work unreliably at 400KHZ - user can try lowering the clock speed to 200KHZ or even 100KHZ. User need to bear in mind that lower clock speeds might require higher looptimes (lower looptime rate)
ibus_telemetry_type	0	0	255	Type compatibility ibus telemetry for transmitters. See Telemetry.md label IBUS for details.
idle_power	0	0	65535	Power draw at zero throttle used for remaining flight time/distance estimation in 0.01W unit
imu2_align_pitch	0	-1800	3600	Pitch alignment for Secondary IMU. 1/10 of a degree
imu2_align_roll	0	-1800	3600	Roll alignment for Secondary IMU. 1/10 of a degree
imu2_align_yaw	0	-1800	3600	Yaw alignment for Secondary IMU. 1/10 of a degree
imu2_gain_acc_x	0	-32768	32767	Secondary IMU ACC calibration data
imu2_gain_acc_y	0	-32768	32767	Secondary IMU ACC calibration data
imu2_gain_acc_z	0	-32768	32767	Secondary IMU ACC calibration data
imu2_gain_mag_x	0	-32768	32767	Secondary IMU MAG calibration data
imu2_gain_mag_y	0	-32768	32767	Secondary IMU MAG calibration data
imu2_gain_mag_z	0	-32768	32767	Secondary IMU MAG calibration data
imu2_hardware	NONE			Selection of a Secondary IMU hardware type. NONE disables this functionality
imu2_radius_acc	0	-32768	32767	Secondary IMU MAG calibration data
imu2_radius_mag	0	-32768	32767	Secondary IMU MAG calibration data
imu2_use_for_osd_ahi	OFF			If set to ON, Secondary IMU data will be used for Analog OSD Artificial Horizon
imu2_use_for_osd_heading	OFF			If set to ON, Secondary IMU data will be used for Analog OSD heading
imu2_use_for_stabilized	OFF			If set to ON, Secondary IMU data will be used for Angle, Horizon and all other modes that control attitude (PosHold, WP, RTH)
imu_acc_ignore_rate	0	0	20	Total gyro rotation rate threshold [deg/s] to consider accelerometer trustworthy on airplanes
imu_acc_ignore_slope	0	0	5	Half-width of the interval to gradually reduce accelerometer weight. Centered at imu_acc_ignore_rate (exactly 50% weight)
imu_dcm_ki	50		65535	Inertial Measurement Unit KI Gain for accelerometer measurements
imu_dcm_ki_mag	0		65535	Inertial Measurement Unit KI Gain for compass measurements
imu_dcm_kp	2500		65535	Inertial Measurement Unit KP Gain for accelerometer measurements
imu_dcm_kp_mag	10000		65535	Inertial Measurement Unit KP Gain for compass measurements
inav_allow_dead_reckoning	OFF			Defines if inav will dead-reckon over short GPS outages. May also be useful for indoors OPFLOW navigation
inav_auto_mag_decl	ON			Automatic setting of magnetic declination based on GPS position. When used manual magnetic declination is ignored.
inav_baro_epv	100	0	9999	Uncertainty value for barometric sensor [cm]
inav_gravity_cal_tolerance	5	0	255	Unarmed gravity calibration tolerance level. Won't finish the calibration until estimated gravity error falls below this value.
inav_max_eph_epv	1000	0	9999	Maximum uncertainty value until estimated position is considered valid and is used for navigation [cm]
inav_max_surface_altitude	200	0	1000	Max allowed altitude for surface following mode. [cm]
inav_reset_altitude	FIRST_ARM			Defines when relative estimated altitude is reset to zero. Variants - NEVER (once reference is acquired it's used regardless); FIRST_ARM (keep altitude at zero until firstly armed), EACH_ARM (altitude is reset to zero on each arming)
inav_reset_home	FIRST_ARM			Allows to chose when the home position is reset. Can help prevent resetting home position after accidental mid-air disarm. Possible values are: NEVER, FIRST_ARM and EACH_ARM
inav_use_gps_no_baro	OFF
inav_use_gps_velned	ON			Defined if iNav should use velocity data provided by GPS module for doing position and speed estimation. If set to OFF iNav will fallback to calculating velocity from GPS coordinates. Using native velocity data may improve performance on some GPS modules. Some GPS modules introduce significant delay and using native velocity may actually result in much worse performance.
inav_w_acc_bias	0.01	0	1	Weight for accelerometer drift estimation
inav_w_xy_flow_p	1.0	0	100
inav_w_xy_flow_v	2.0	0	100
inav_w_xy_gps_p	1.0	0	10	Weight of GPS coordinates in estimated UAV position and speed.
inav_w_xy_gps_v	2.0	0	10	Weight of GPS velocity data in estimated UAV speed
inav_w_xy_res_v	0.5	0	10	Decay coefficient for estimated velocity when GPS reference for position is lost
inav_w_xyz_acc_p	1.0	0	1
inav_w_z_baro_p	0.35	0	10	Weight of barometer measurements in estimated altitude and climb rate
inav_w_z_gps_p	0.2	0	10	Weight of GPS altitude measurements in estimated altitude. Setting is used only of airplanes
inav_w_z_gps_v	0.1	0	10	Weight of GPS climb rate measurements in estimated climb rate. Setting is used on both airplanes and multirotors. If GPS doesn't support native climb rate reporting (i.e. NMEA GPS) you may consider setting this to zero
inav_w_z_res_v	0.5	0	10	Decay coefficient for estimated climb rate when baro/GPS reference for altitude is lost
inav_w_z_surface_p	3.5	0	100
inav_w_z_surface_v	6.1	0	100
iterm_windup	50	0	90	Used to prevent Iterm accumulation on during maneuvers. Iterm will be dampened when motors are reaching it's limit (when requested motor correction range is above percentage specified by this parameter)
ledstrip_visual_beeper	OFF
log_level	ERROR			Defines serial debugging log level. See docs/development/serial_printf_debugging.md for usage.
log_topics	0	0	4294967295	Defines serial debugging log topic. See docs/development/serial_printf_debugging.md for usage.
looptime	1000		9000	This is the main loop time (in us). Changing this affects PID effect with some PID controllers (see PID section for details). A very conservative value of 3500us/285Hz should work for everyone. Setting it to zero does not limit loop time, so it will go as fast as possible.
ltm_update_rate	NORMAL			Defines the LTM update rate (use of bandwidth [NORMAL/MEDIUM/SLOW]). See Telemetry.md, LTM section for details.
mag_calibration_time	30	20	120	Adjust how long time the Calibration of mag will last.
mag_declination	0	-18000	18000	Current location magnetic declination in format. For example, -6deg 37min = -637 for Japan. Leading zero in ddd not required. Get your local magnetic declination here: http://magnetic-declination.com/ . Not in use if inav_auto_mag_decl is turned on and you acquire valid GPS fix.
mag_hardware	AUTO			Selection of mag hardware. See Wiki Sensor auto detect and hardware failure detection for more info
mag_to_use	0	0	1	Allow to chose between built-in and external compass sensor if they are connected to separate buses. Currently only for REVO target
maggain_x	1024	-32768	32767	Magnetometer calibration X gain. If 1024, no calibration or calibration failed
maggain_y	1024	-32768	32767	Magnetometer calibration Y gain. If 1024, no calibration or calibration failed
maggain_z	1024	-32768	32767	Magnetometer calibration Z gain. If 1024, no calibration or calibration failed
magzero_x	0	-32768	32767	Magnetometer calibration X offset. If its 0 none offset has been applied and calibration is failed.
magzero_y	0	-32768	32767	Magnetometer calibration Y offset. If its 0 none offset has been applied and calibration is failed.
magzero_z	0	-32768	32767	Magnetometer calibration Z offset. If its 0 none offset has been applied and calibration is failed.
manual_pitch_rate	100	0	100	Servo travel multiplier for the PITCH axis in MANUAL flight mode [0-100]%
manual_rc_expo	70	0	100	Exposition value used for the PITCH/ROLL axes by the MANUAL flight mode [0-100]
manual_rc_yaw_expo	20	0	100	Exposition value used for the YAW axis by the MANUAL flight mode [0-100]
manual_roll_rate	100	0	100	Servo travel multiplier for the ROLL axis in MANUAL flight mode [0-100]%
manual_yaw_rate	100	0	100	Servo travel multiplier for the YAW axis in MANUAL flight mode [0-100]%
mavlink_ext_status_rate	2	0	255
mavlink_extra1_rate	10	0	255
mavlink_extra2_rate	2	0	255
mavlink_extra3_rate	1	0	255
mavlink_pos_rate	2	0	255
mavlink_rc_chan_rate	5	0	255
mavlink_version	2	1	2	Version of MAVLink to use
max_angle_inclination_pit	300	100	900	Maximum inclination in level (angle) mode (PITCH axis). 100=10°
max_angle_inclination_rll	300	100	900	Maximum inclination in level (angle) mode (ROLL axis). 100=10°
max_check	1900	PWM_RANGE_MIN	PWM_RANGE_MAX	These are min/max values (in us) which, when a channel is smaller (min) or larger (max) than the value will activate various RC commands, such as arming, or stick configuration. Normally, every RC channel should be set so that min = 1000us, max = 2000us. On most transmitters this usually means 125% endpoints. Default check values are 100us above/below this value.
max_throttle	1850	PWM_RANGE_MIN	PWM_RANGE_MAX	This is the maximum value (in us) sent to esc when armed. Default of 1850 are OK for everyone (legacy). For modern ESCs, higher values (c. 2000) may be more appropriate. If you have brushed motors, the value should be set to 2000.
mc_cd_lpf_hz	30	0	200	Cutoff frequency for Control Derivative. Lower value smoother reaction on fast stick movements. With higher values, response will be more aggressive, jerky
mc_cd_pitch	60	0	200	Multicopter Control Derivative gain for PITCH
mc_cd_roll	60	0	200	Multicopter Control Derivative gain for ROLL
mc_cd_yaw	60	0	200	Multicopter Control Derivative gain for YAW
mc_d_level	75	0	200	Multicopter attitude stabilisation HORIZON transition point
mc_d_pitch	23	0	200	Multicopter rate stabilisation D-gain for PITCH
mc_d_roll	23	0	200	Multicopter rate stabilisation D-gain for ROLL
mc_d_yaw	0	0	200	Multicopter rate stabilisation D-gain for YAW
mc_i_level	15	0	200	Multicopter attitude stabilisation low-pass filter cutoff
mc_i_pitch	30	0	200	Multicopter rate stabilisation I-gain for PITCH
mc_i_roll	30	0	200	Multicopter rate stabilisation I-gain for ROLL
mc_i_yaw	45	0	200	Multicopter rate stabilisation I-gain for YAW
mc_iterm_relax	RP
mc_iterm_relax_cutoff	15	1	100
mc_p_level	20	0	200	Multicopter attitude stabilisation P-gain
mc_p_pitch	40	0	200	Multicopter rate stabilisation P-gain for PITCH
mc_p_roll	40	0	200	Multicopter rate stabilisation P-gain for ROLL
mc_p_yaw	85	0	200	Multicopter rate stabilisation P-gain for YAW
min_check	1100	PWM_RANGE_MIN	PWM_RANGE_MAX	These are min/max values (in us) which, when a channel is smaller (min) or larger (max) than the value will activate various RC commands, such as arming, or stick configuration. Normally, every RC channel should be set so that min = 1000us, max = 2000us. On most transmitters this usually means 125% endpoints. Default check values are 100us above/below this value.
min_command	1000	0	PWM_RANGE_MAX	This is the PWM value sent to ESCs when they are not armed. If ESCs beep slowly when powered up, try decreasing this value. It can also be used for calibrating all ESCs at once.
mode_range_logic_operator	OR			Control how Mode selection works in flight modes. If you example have Angle mode configured on two different Aux channels, this controls if you need both activated ( AND ) or if you only need one activated ( OR ) to active angle mode.
model_preview_type	-1	-1	32767	ID of mixer preset applied in a Configurator. Do not modify manually. Used only for backup/restore reasons.
moron_threshold	32		128	When powering up, gyro bias is calculated. If the model is shaking/moving during this initial calibration, offsets are calculated incorrectly, and could lead to poor flying performance. This threshold means how much average gyro reading could differ before re-calibration is triggered.
motor_accel_time	0	0	1000	Minimum time for the motor(s) to accelerate from 0 to 100% throttle (ms) [0-1000]
motor_decel_time	0	0	1000	Minimum time for the motor(s) to deccelerate from 100 to 0% throttle (ms) [0-1000]
motor_direction_inverted	OFF			Use if you need to inverse yaw motor direction.
motor_poles	14	4	255	The number of motor poles. Required to compute motor RPM
motor_pwm_protocol	ONESHOT125			Protocol that is used to send motor updates to ESCs. Possible values - STANDARD, ONESHOT125, ONESHOT42, MULTISHOT, DSHOT150, DSHOT300, DSHOT600, DSHOT1200, BRUSHED
motor_pwm_rate	400	50	32000	Output frequency (in Hz) for motor pins. Default is 400Hz for motor with motor_pwm_protocol set to STANDARD. For *SHOT (e.g. ONESHOT125) values of 1000 and 2000 have been tested by the development team and are supported. It may be possible to use higher values. For BRUSHED values of 8000 and above should be used. Setting to 8000 will use brushed mode at 8kHz switching frequency. Up to 32kHz is supported for brushed. Default is 16000 for boards with brushed motors. Note, that in brushed mode, minthrottle is offset to zero. For brushed mode, set max_throttle to 2000.
msp_override_channels	0	0	65535	Mask of RX channels that may be overridden by MSP SET_RAW_RC. Note that this requires custom firmware with USE_RX_MSP and USE_MSP_RC_OVERRIDE compile options and the MSP RC Override flight mode.
name	empty			Craft name
nav_auto_climb_rate	500	10	2000	Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s]
nav_auto_speed	300	10	2000	Maximum velocity firmware is allowed in full auto modes (RTH, WP) [cm/s] [Multirotor only]
nav_disarm_on_landing	OFF			If set to ON, iNav disarms the FC after landing
nav_emerg_landing_speed	500	100	2000	Rate of descent UAV will try to maintain when doing emergency descent sequence [cm/s]
nav_extra_arming_safety	ON			If set to ON drone won't arm if no GPS fix and any navigation mode like RTH or POSHOLD is configured. ALLOW_BYPASS allows the user to momentarily disable this check by holding yaw high (left stick held at the bottom right in mode 2) when switch arming is used
nav_fw_allow_manual_thr_increase	OFF			Enable the possibility to manually increase the throttle in auto throttle controlled modes for fixed wing
nav_fw_bank_angle	35	5	80	Max roll angle when rolling / turning in GPS assisted modes, is also restrained by global max_angle_inclination_rll
nav_fw_climb_angle	20	5	80	Max pitch angle when climbing in GPS assisted modes, is also restrained by global max_angle_inclination_pit
nav_fw_control_smoothness	0	0	9	How smoothly the autopilot controls the airplane to correct the navigation error
nav_fw_cruise_speed	0	0	65535	Speed for the plane/wing at cruise throttle used for remaining flight time/distance estimation in cm/s
nav_fw_cruise_thr	1400	1000	2000	Cruise throttle in GPS assisted modes, this includes RTH. Should be set high enough to avoid stalling. This values gives INAV a base for throttle when flying straight, and it will increase or decrease throttle based on pitch of airplane and the parameters below. In addition it will increase throttle if GPS speed gets below 7m/s ( hardcoded )
nav_fw_cruise_yaw_rate	20	0	60	Max YAW rate when NAV CRUISE mode is enabled (0=disable control via yaw stick) [dps]
nav_fw_dive_angle	15	5	80	Max negative pitch angle when diving in GPS assisted modes, is also restrained by global max_angle_inclination_pit
nav_fw_heading_p	60	0	255	P gain of Heading Hold controller (Fixedwing)
nav_fw_land_dive_angle	2	-20	20	Dive angle that airplane will use during final landing phase. During dive phase, motor is stopped or IDLE and roll control is locked to 0 degrees
nav_fw_launch_accel	1863	1000	20000	Forward acceleration threshold for bungee launch of throw launch [cm/s/s], 1G = 981 cm/s/s
nav_fw_launch_climb_angle	18	5	45	Climb angle for launch sequence (degrees), is also restrained by global max_angle_inclination_pit
nav_fw_launch_detect_time	40	10	1000	Time for which thresholds have to breached to consider launch happened [ms]
nav_fw_launch_end_time	3000	0	5000	Time for the transition of throttle and pitch angle, between the launch state and the subsequent flight mode [ms]
nav_fw_launch_idle_thr	1000	1000	2000	Launch idle throttle - throttle to be set before launch sequence is initiated. If set below minimum throttle it will force motor stop or at idle throttle (depending if the MOTOR_STOP is enabled). If set above minimum throttle it will force throttle to this value (if MOTOR_STOP is enabled it will be handled according to throttle stick position)
nav_fw_launch_max_altitude	0	0	60000	Altitude (centimeters) at which LAUNCH mode will be turned off and regular flight mode will take over [0-60000].
nav_fw_launch_max_angle	45	5	180	Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg]
nav_fw_launch_min_time	0	0	60000	Allow launch mode to execute at least this time (ms) and ignore stick movements [0-60000].
nav_fw_launch_motor_delay	500	0	5000	Delay between detected launch and launch sequence start and throttling up (ms)
nav_fw_launch_spinup_time	100	0	1000	Time to bring power from minimum throttle to nav_fw_launch_thr - to avoid big stress on ESC and large torque from propeller
nav_fw_launch_thr	1700	1000	2000	Launch throttle - throttle to be set during launch sequence (pwm units)
nav_fw_launch_timeout	5000		60000	Maximum time for launch sequence to be executed. After this time LAUNCH mode will be turned off and regular flight mode will take over (ms)
nav_fw_launch_velocity	300	100	10000	Forward velocity threshold for swing-launch detection [cm/s]
nav_fw_loiter_radius	7500	0	30000	PosHold radius. 3000 to 7500 is a good value (30-75m) [cm]
nav_fw_max_thr	1700	1000	2000	Maximum throttle for flying wing in GPS assisted modes
nav_fw_min_thr	1200	1000	2000	Minimum throttle for flying wing in GPS assisted modes
nav_fw_pitch2thr	10	0	100	Amount of throttle applied related to pitch attitude in GPS assisted modes. Throttle = nav_fw_cruise_throttle - (nav_fw_pitch2thr * pitch_angle). (notice that pitch_angle is in degrees and is negative when climbing and positive when diving, and throttle value is constrained between nav_fw_min_thr and nav_fw_max_thr)
nav_fw_pitch2thr_smoothing	6	0	9	How smoothly the autopilot makes pitch to throttle correction inside a deadband defined by pitch_to_throttle_thresh.
nav_fw_pitch2thr_threshold	50	0	900	Threshold from average pitch where momentary pitch_to_throttle correction kicks in. [decidegrees]
nav_fw_pos_hdg_d	0	0	255	D gain of heading trajectory PID controller. (Fixedwing, rovers, boats)
nav_fw_pos_hdg_i	2	0	255	I gain of heading trajectory PID controller. (Fixedwing, rovers, boats)
nav_fw_pos_hdg_p	30	0	255	P gain of heading PID controller. (Fixedwing, rovers, boats)
nav_fw_pos_hdg_pidsum_limit	350	PID_SUM_LIMIT_MIN	PID_SUM_LIMIT_MAX	Output limit for heading trajectory PID controller. (Fixedwing, rovers, boats)
nav_fw_pos_xy_d	8	0	255	D gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero
nav_fw_pos_xy_i	5	0	255	I gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero
nav_fw_pos_xy_p	75	0	255	P gain of 2D trajectory PID controller. Play with this to get a straight line between waypoints or a straight RTH
nav_fw_pos_z_d	10	0	255	D gain of altitude PID controller (Fixedwing)
nav_fw_pos_z_i	5	0	255	I gain of altitude PID controller (Fixedwing)
nav_fw_pos_z_p	40	0	255	P gain of altitude PID controller (Fixedwing)
nav_fw_yaw_deadband	0	0	90	Deadband for heading trajectory PID controller. When heading error is below the deadband, controller assumes that vehicle is on course
nav_land_maxalt_vspd	200	100	2000	Vertical descent velocity above nav_land_slowdown_maxalt during the RTH landing phase. [cm/s]
nav_land_minalt_vspd	50	50	500	Vertical descent velocity under nav_land_slowdown_minalt during the RTH landing phase. [cm/s]
nav_land_slowdown_maxalt	2000	500	4000	Defines at what altitude the descent velocity should start to ramp down from nav_land_maxalt_vspd to nav_land_minalt_vspd during the RTH landing phase [cm]
nav_land_slowdown_minalt	500	50	1000	Defines at what altitude the descent velocity should start to be nav_land_minalt_vspd [cm]
nav_manual_climb_rate	200	10	2000	Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]
nav_manual_speed	500	10	2000	Maximum velocity firmware is allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]
nav_max_terrain_follow_alt	100		1000	Max allowed above the ground altitude for terrain following mode
nav_mc_auto_disarm_delay	2000	100	10000	Delay before multi-rotor disarms when nav_disarm_on_landing is set (m/s)
nav_mc_bank_angle	30	15	45	Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude
nav_mc_braking_bank_angle	40	15	60	max angle that MR is allowed to bank in BOOST mode
nav_mc_braking_boost_disengage_speed	100	0	1000	BOOST will be disabled when speed goes below this value
nav_mc_braking_boost_factor	100	0	200	acceleration factor for BOOST phase
nav_mc_braking_boost_speed_threshold	150	100	1000	BOOST can be enabled when speed is above this value
nav_mc_braking_boost_timeout	750	0	5000	how long in ms BOOST phase can happen
nav_mc_braking_disengage_speed	75	0	1000	braking is disabled when speed goes below this value
nav_mc_braking_speed_threshold	100	0	1000	min speed in cm/s above which braking can happen
nav_mc_braking_timeout	2000	100	5000	timeout in ms for braking
nav_mc_heading_p	60	0	255	P gain of Heading Hold controller (Multirotor)
nav_mc_hover_thr	1500	1000	2000	Multicopter hover throttle hint for altitude controller. Should be set to approximate throttle value when drone is hovering.
nav_mc_pos_deceleration_time	120	0	255	Used for stoping distance calculation. Stop position is computed as speed * nav_mc_pos_deceleration_time from the place where sticks are released. Braking mode overrides this setting
nav_mc_pos_expo	10	0	255	Expo for PosHold control
nav_mc_pos_xy_p	65	0	255	Controls how fast the drone will fly towards the target position. This is a multiplier to convert displacement to target velocity
nav_mc_pos_z_p	50	0	255	P gain of altitude PID controller (Multirotor)
nav_mc_vel_xy_d	100	0	255	D gain of Position-Rate (Velocity to Acceleration) PID controller. It can damp P and I. Increasing D might help when drone overshoots target.
nav_mc_vel_xy_dterm_attenuation	90	0	100	Maximum D-term attenution percentage for horizontal velocity PID controller (Multirotor). It allows to smooth the PosHold CRUISE, WP and RTH when Multirotor is traveling at full speed. Dterm is not attenuated at low speeds, breaking and accelerating.
nav_mc_vel_xy_dterm_attenuation_end	60	0	100	A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation reaches maximum
nav_mc_vel_xy_dterm_attenuation_start	10	0	100	A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation begins
nav_mc_vel_xy_dterm_lpf_hz	2	0	100
nav_mc_vel_xy_ff	40	0	255
nav_mc_vel_xy_i	15	0	255	I gain of Position-Rate (Velocity to Acceleration) PID controller. Used for drift compensation (caused by wind for example). Higher I means stronger response to drift. Too much I gain might cause target overshot
nav_mc_vel_xy_p	40	0	255	P gain of Position-Rate (Velocity to Acceleration) PID controller. Higher P means stronger response when position error occurs. Too much P might cause "nervous" behavior and oscillations
nav_mc_vel_z_d	10	0	255	D gain of velocity PID controller
nav_mc_vel_z_i	50	0	255	I gain of velocity PID controller
nav_mc_vel_z_p	100	0	255	P gain of velocity PID controller
nav_mc_wp_slowdown	ON			When ON, NAV engine will slow down when switching to the next waypoint. This prioritizes turning over forward movement. When OFF, NAV engine will continue to the next waypoint and turn as it goes.
nav_min_rth_distance	500	0	5000	Minimum distance from homepoint when RTH full procedure will be activated [cm]. Below this distance, the mode will activate at the current location and the final phase is executed (loiter / land). Above this distance, the full procedure is activated, which may include initial climb and flying directly to the homepoint before entering the loiter / land phase.
nav_overrides_motor_stop	ALL_NAV			When set to OFF the navigation system will not take over the control of the motor if the throttle is low (motor will stop). When set to OFF_ALWAYS the navigation system will not take over the control of the motor if the throttle was low even when failsafe is triggered. When set to AUTO_ONLY the navigation system will only take over the control of the throttle in autonomous navigation modes (NAV WP and NAV RTH). When set to ALL_NAV (default) the navigation system will take over the control of the motor completely and never allow the motor to stop even when the throttle is low. This setting only has an effect on NAV modes which take control of the throttle when combined with MOTOR_STOP and is likely to cause a stall if fw_min_throttle_down_pitch isn't set correctly or the pitch estimation is wrong for fixed wing models when not set to ALL_NAV
nav_position_timeout	5	0	10	If GPS fails wait for this much seconds before switching to emergency landing mode (0 - disable)
nav_rth_abort_threshold	50000		65000	RTH sanity checking feature will notice if distance to home is increasing during RTH and once amount of increase exceeds the threshold defined by this parameter, instead of continuing RTH machine will enter emergency landing, self-level and go down safely. Default is 500m which is safe enough for both multirotor machines and airplanes. [cm]
nav_rth_allow_landing	ALWAYS			If set to ON drone will land as a last phase of RTH.
nav_rth_alt_control_override	OFF			If set to ON RTH altitude and CLIMB FIRST settings can be overridden during the RTH climb phase using full pitch or roll stick held for > 1 second. RTH altitude is reset to the current altitude using pitch down stick. RTH CLIMB FIRST is overridden using right roll stick so craft turns and heads directly to home (CLIMB FIRST override only works for fixed wing)
nav_rth_alt_mode	AT_LEAST			Configure how the aircraft will manage altitude on the way home, see Navigation modes on wiki for more details
nav_rth_altitude	1000		65000	Used in EXTRA, FIXED and AT_LEAST rth alt modes [cm] (Default 1000 means 10 meters)
nav_rth_climb_first	ON			If set to ON or ON_FW_SPIRAL aircraft will climb to nav_rth_altitude first before turning to head home. If set to OFF aircraft will turn and head home immediately climbing on the way. For a fixed wing ON will use a linear climb, ON_FW_SPIRAL will use a loiter turning climb with climb rate set by nav_auto_climb_rate, turn rate set by nav_fw_loiter_radius (ON_FW_SPIRAL is a fixed wing setting and behaves the same as ON for a multirotor)
nav_rth_climb_ignore_emerg	OFF			If set to ON, aircraft will execute initial climb regardless of position sensor (GPS) status.
nav_rth_home_altitude	0		65000	Aircraft will climb/descend to this altitude after reaching home if landing is not enabled. Set to 0 to stay at nav_rth_altitude (default) [cm]
nav_rth_tail_first	OFF			If set to ON drone will return tail-first. Obviously meaningless for airplanes.
nav_use_fw_yaw_control	OFF			Enables or Disables the use of the heading PID controller on fixed wing. Heading PID controller is always enabled for rovers and boats
nav_use_midthr_for_althold	OFF			If set to OFF, the FC remembers your throttle stick position when enabling ALTHOLD and treats it as a neutral midpoint for holding altitude
nav_user_control_mode	ATTI			Defines how Pitch/Roll input from RC receiver affects flight in POSHOLD mode: ATTI - pitch/roll controls attitude like in ANGLE mode; CRUISE - pitch/roll controls velocity in forward and right direction.
nav_wp_radius	100	10	10000	Waypoint radius [cm]. Waypoint would be considered reached if machine is within this radius
nav_wp_safe_distance	10000		65000	First waypoint in the mission should be closer than this value [cm]. A value of 0 disables this check.
opflow_hardware	NONE			Selection of OPFLOW hardware.
opflow_scale	10.5	0	10000
osd_ahi_bordered	OFF			Shows a border/corners around the AHI region (pixel OSD only)
osd_ahi_height	162		255	AHI height in pixels (pixel OSD only)
osd_ahi_max_pitch	20	10	90	Max pitch, in degrees, for OSD artificial horizon
osd_ahi_reverse_roll	OFF
osd_ahi_style	DEFAULT			Sets OSD Artificial Horizon style "DEFAULT" or "LINE" for the FrSky Graphical OSD.
osd_ahi_vertical_offset	-18	-128	127	AHI vertical offset from center (pixel OSD only)
osd_ahi_width	132		255	AHI width in pixels (pixel OSD only)
osd_alt_alarm	100	0	10000	Value above which to make the OSD relative altitude indicator blink (meters)
osd_baro_temp_alarm_max	600	-550	1250	Temperature above which the baro temperature OSD element will start blinking (decidegrees centigrade)
osd_baro_temp_alarm_min	-200	-550	1250	Temperature under which the baro temperature OSD element will start blinking (decidegrees centigrade)
osd_camera_fov_h	135	60	150	Horizontal field of view for the camera in degres
osd_camera_fov_v	85	30	120	Vertical field of view for the camera in degres
osd_camera_uptilt	0	-40	80	Set the camera uptilt for the FPV camera in degres, positive is up, negative is down, relative to the horizontal
osd_coordinate_digits	9	8	11
osd_crosshairs_style	DEFAULT			To set the visual type for the crosshair
osd_crsf_lq_format	TYPE1			To select LQ format
osd_current_alarm	0	0	255	Value above which the OSD current consumption element will start blinking. Measured in full Amperes.
osd_dist_alarm	1000	0	50000	Value above which to make the OSD distance from home indicator blink (meters)
osd_esc_temp_alarm_max	900	-550	1500	Temperature above which the IMU temperature OSD element will start blinking (decidegrees centigrade)
osd_esc_temp_alarm_min	-200	-550	1500	Temperature under which the IMU temperature OSD element will start blinking (decidegrees centigrade)
osd_estimations_wind_compensation	ON			Use wind estimation for remaining flight time/distance estimation
osd_failsafe_switch_layout	OFF			If enabled the OSD automatically switches to the first layout during failsafe
osd_force_grid	OFF			Force OSD to work in grid mode even if the OSD device supports pixel level access (mainly used for development)
osd_gforce_alarm	5	0	20	Value above which the OSD g force indicator will blink (g)
osd_gforce_axis_alarm_max	5	-20	20	Value above which the OSD axis g force indicators will blink (g)
osd_gforce_axis_alarm_min	-5	-20	20	Value under which the OSD axis g force indicators will blink (g)
osd_home_position_arm_screen	ON			Should home position coordinates be displayed on the arming screen.
osd_horizon_offset	0	-2	2	To vertically adjust the whole OSD and AHI and scrolling bars
osd_hud_homepoint	OFF			To 3D-display the home point location in the hud
osd_hud_homing	OFF			To display little arrows around the crossair showing where the home point is in the hud
osd_hud_margin_h	3	0	4	Left and right margins for the hud area
osd_hud_margin_v	3	1	3	Top and bottom margins for the hud area
osd_hud_radar_disp	0	0	4	Maximum count of nearby aircrafts or points of interest to display in the hud, as sent from an ESP32 LoRa module. Set to 0 to disable (show nothing). The nearby aircrafts will appear as markers A, B, C, etc
osd_hud_radar_nearest	0	0	4000	To display an extra bar of informations at the bottom of the hud area for the closest radar aircraft found, if closest than the set value, in meters. Shows relative altitude (meters or feet, with an up or down arrow to indicate if above or below), speed (in m/s or f/s), and absolute heading (in °, 0 is north, 90 is east, 180 is south, 270 is west). Set to 0 (zero) to disable.
osd_hud_radar_range_max	4000	100	9990	In meters, radar aircrafts further away than this will not be displayed in the hud
osd_hud_radar_range_min	3	1	30	In meters, radar aircrafts closer than this will not be displayed in the hud
osd_hud_wp_disp	0	0	3	How many navigation waypoints are displayed, set to 0 (zero) to disable. As sample, if set to 2, and you just passed the 3rd waypoint of the mission, you'll see markers for the 4th waypoint (marked 1) and the 5th waypoint (marked 2)
osd_imu_temp_alarm_max	600	-550	1250	Temperature above which the IMU temperature OSD element will start blinking (decidegrees centigrade)
osd_imu_temp_alarm_min	-200	-550	1250	Temperature under which the IMU temperature OSD element will start blinking (decidegrees centigrade)
osd_left_sidebar_scroll	NONE
osd_left_sidebar_scroll_step	0		255	How many units each sidebar step represents. 0 means the default value for the scroll type.
osd_link_quality_alarm	70	0	100	LQ % indicator blinks below this value. For Crossfire use 70%, for Tracer use 50%
osd_main_voltage_decimals	1	1	2	Number of decimals for the battery voltages displayed in the OSD [1-2].
osd_neg_alt_alarm	5	0	10000	Value below which (negative altitude) to make the OSD relative altitude indicator blink (meters)
osd_pan_servo_index	0	0	10	Index of the pan servo to adjust osd home heading direction based on camera pan. Note that this feature does not work with continiously rotating servos.
osd_pan_servo_pwm2centideg	0	-36	36	Centidegrees of pan servo rotation us PWM signal. A servo with 180 degrees of rotation from 1000 to 2000 us PWM typically needs 18 for this setting. Change sign to inverse direction.
osd_plus_code_digits	11	10	13	Numer of plus code digits before shortening with osd_plus_code_short. Precision at the equator: 10=13.9x13.9m; 11=2.8x3.5m; 12=56x87cm; 13=11x22cm.
osd_plus_code_short	0			Number of leading digits removed from plus code. Removing 2, 4 and 6 digits requires a reference location within, respectively, ~800km, ~40 km and ~2km to recover the original coordinates.
osd_right_sidebar_scroll	NONE
osd_right_sidebar_scroll_step	0		255	Same as left_sidebar_scroll_step, but for the right sidebar
osd_row_shiftdown	0	0	1	Number of rows to shift the OSD display (increase if top rows are cut off)
osd_rssi_alarm	20	0	100	Value below which to make the OSD RSSI indicator blink
osd_sidebar_horizontal_offset	0	-128	127	Sidebar horizontal offset from default position. Positive values move the sidebars closer to the edges.
osd_sidebar_scroll_arrows	OFF
osd_snr_alarm	4	-20	10	Value below which Crossfire SNR Alarm pops-up. (dB)
osd_stats_energy_unit	MAH			Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour)
osd_stats_min_voltage_unit	BATTERY			Display minimum voltage of the BATTERY or the average per CELL in the OSD stats.
osd_telemetry	OFF			To enable OSD telemetry for antenna tracker. Possible values are OFF, ON and TEST
osd_temp_label_align	LEFT			Allows to chose between left and right alignment for the OSD temperature sensor labels. Valid values are LEFT and RIGHT
osd_time_alarm	10	0	600	Value above which to make the OSD flight time indicator blink (minutes)
osd_units	METRIC			IMPERIAL, METRIC, UK
osd_video_system	AUTO			Video system used. Possible values are AUTO, PAL and NTSC
pid_type	AUTO			Allows to set type of PID controller used in control loop. Possible values: NONE, PID, PIFF, AUTO. Change only in case of experimental platforms like VTOL, tailsitters, rovers, boats, etc. Airplanes should always use PIFF and multirotors PID
pidsum_limit	500	PID_SUM_LIMIT_MIN	PID_SUM_LIMIT_MAX	A limitation to overall amount of correction Flight PID can request on each axis (Roll/Pitch). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help
pidsum_limit_yaw	350	PID_SUM_LIMIT_MIN	PID_SUM_LIMIT_MAX	A limitation to overall amount of correction Flight PID can request on each axis (Yaw). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help
pinio_box1	BOX_PERMANENT_ID_NONE	0	255	Mode assignment for PINIO#1
pinio_box2	BOX_PERMANENT_ID_NONE	0	255	Mode assignment for PINIO#1
pinio_box3	BOX_PERMANENT_ID_NONE	0	255	Mode assignment for PINIO#1
pinio_box4	BOX_PERMANENT_ID_NONE	0	255	Mode assignment for PINIO#1
pitch_rate	20	6	180	Defines rotation rate on PITCH axis that UAV will try to archive on max. stick deflection. Rates are defined in tens of degrees (deca-degrees) per second [rate = dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure.
pitot_hardware	NONE			Selection of pitot hardware.
pitot_lpf_milli_hz	350	0	10000
pitot_scale	1.0	0	100
platform_type	MULTIROTOR			Defines UAV platform type. Allowed values: "MULTIROTOR", "AIRPLANE", "HELICOPTER", "TRICOPTER", "ROVER", "BOAT". Currently only MULTIROTOR, AIRPLANE and TRICOPTER types are implemented
pos_hold_deadband	10	2	250	Stick deadband in [r/c points], applied after r/c deadband and expo
prearm_timeout	10000	0	10000	Duration (ms) for which Prearm being activated is valid. after this, Prearm needs to be reset. 0 means Prearm does not timeout.
rangefinder_hardware	NONE			Selection of rangefinder hardware.
rangefinder_median_filter	OFF			3-point median filtering for rangefinder readouts
rate_accel_limit_roll_pitch	0		500000	Limits acceleration of ROLL/PITCH rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 5000 dps^2 and even > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 360 dps^2). When set correctly, it greatly improves stopping performance. Value of 0 disables limiting.
rate_accel_limit_yaw	10000		500000	Limits acceleration of YAW rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 180 dps^2). When set correctly, it greatly improves stopping performance and general stability during yaw turns. Value of 0 disables limiting.
rc_expo	70	0	100	Exposition value used for the PITCH/ROLL axes by all the stabilized flights modes (all but MANUAL)
rc_filter_frequency	50	0	100	RC data biquad filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay. Practical values are 20-50. Set to zero to disable entirely and use unsmoothed RC stick values
rc_yaw_expo	20	0	100	Exposition value used for the YAW axis by all the stabilized flights modes (all but MANUAL)
reboot_character	82	48	126	Special character used to trigger reboot
receiver_type	target default			Selection of receiver (RX) type. Additional configuration of a serialrx_provider and a UART will be needed for SERIAL
report_cell_voltage	OFF			S.Port, D-Series, and IBUS telemetry: Send the average cell voltage if set to ON
roll_rate	20	6	180	Defines rotation rate on ROLL axis that UAV will try to archive on max. stick deflection. Rates are defined in tens of degrees (deca-degrees) per second [rate = dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure.
rpm_gyro_filter_enabled	OFF			Enables gyro RPM filtere. Set to ON only when ESC telemetry is working and rotation speed of the motors is correctly reported to INAV
rpm_gyro_harmonics	1	1	3	Number of harmonic frequences to be covered by gyro RPM filter. Default value of 1 usually works just fine
rpm_gyro_min_hz	100	30	200	The lowest frequency for gyro RPM filtere. Default 150 is fine for 5" mini-quads. On 7-inch drones you can lower even down to 60-70
rpm_gyro_q	500	1	3000	Q factor for gyro RPM filter. Lower values give softer, wider attenuation. Usually there is no need to change this setting
rssi_adc_channel	target default	ADC_CHN_NONE	ADC_CHN_MAX	ADC channel to use for analog RSSI input. Defaults to board RSSI input (if available). 0 = disabled
rssi_channel	0	0	MAX_SUPPORTED_RC_CHANNEL_COUNT	RX channel containing the RSSI signal
rssi_max	100	RSSI_VISIBLE_VALUE_MIN	RSSI_VISIBLE_VALUE_MAX	The maximum RSSI value sent by the receiver, in %. For example, if your receiver's maximum RSSI value shows as 83% in the configurator/OSD set this parameter to 83. See also rssi_min.
rssi_min	0	RSSI_VISIBLE_VALUE_MIN	RSSI_VISIBLE_VALUE_MAX	The minimum RSSI value sent by the receiver, in %. For example, if your receiver's minimum RSSI value shows as 42% in the configurator/OSD set this parameter to 42. See also rssi_max. Note that rssi_min can be set to a value bigger than rssi_max to invert the RSSI calculation (i.e. bigger values mean lower RSSI).
rssi_source	AUTO			Source of RSSI input. Possible values: NONE, AUTO, ADC, CHANNEL, PROTOCOL, MSP
rth_energy_margin	5	0	100	Energy margin wanted after getting home (percent of battery energy capacity). Use for the remaining flight time/distance calculation
rx_max_usec	2115	PWM_PULSE_MIN	PWM_PULSE_MAX	Defines the longest pulse width value used when ensuring the channel value is valid. If the receiver gives a pulse value higher than this value then the channel will be marked as bad and will default to the value of mid_rc.
rx_min_usec	885	PWM_PULSE_MIN	PWM_PULSE_MAX	Defines the shortest pulse width value used when ensuring the channel value is valid. If the receiver gives a pulse value lower than this value then the channel will be marked as bad and will default to the value of mid_rc.
rx_spi_id	0	0	0
rx_spi_protocol	target default
rx_spi_rf_channel_count	0	0	8
safehome_max_distance	20000	0	65000	In order for a safehome to be used, it must be less than this distance (in cm) from the arming point.
safehome_usage_mode	RTH			Used to control when safehomes will be used. Possible values are OFF, RTH and RTH_FS. See Safehome documentation for more information.
sbus_sync_interval	3000	500	10000
sdcard_detect_inverted	target default			This setting drives the way SD card is detected in card slot. On some targets (AnyFC F7 clone) different card slot was used and depending of hardware revision ON or OFF setting might be required. If card is not detected, change this value.
serialrx_halfduplex	AUTO			Allow serial receiver to operate on UART TX pin. With some receivers will allow control and telemetry over a single wire.
serialrx_inverted	OFF			Reverse the serial inversion of the serial RX protocol. When this value is OFF, each protocol will use its default signal (e.g. SBUS will use an inverted signal). Some OpenLRS receivers produce a non-inverted SBUS signal. This setting supports this type of receivers (including modified FrSKY).
serialrx_provider	target default			When feature SERIALRX is enabled, this allows connection to several receivers which output data via digital interface resembling serial. See RX section.
servo_center_pulse	1500	PWM_RANGE_MIN	PWM_RANGE_MAX	Servo midpoint
servo_lpf_hz	20	0	400	Selects the servo PWM output cutoff frequency. Value is in [Hz]
servo_protocol	PWM			An option to chose the protocol/option that would be used to output servo data. Possible options PWM (FC servo outputs), SERVO_DRIVER (I2C PCA9685 peripheral), SBUS (S.Bus protocol output via a configured serial port)
servo_pwm_rate	50	50	498	Output frequency (in Hz) servo pins. When using tricopters or gimbal with digital servo, this rate can be increased. Max of 498Hz (for 500Hz pwm period), and min of 50Hz. Most digital servos will support for example 330Hz.
setpoint_kalman_enabled	OFF			Enable Kalman filter on the PID controller setpoint
setpoint_kalman_q	100	1	16000	Quality factor of the setpoint Kalman filter. Higher values means less filtering and lower phase delay. On 3-7 inch multirotors can be usually increased to 200-300 or even higher of clean builds
setpoint_kalman_sharpness	100	1	16000	Dynamic factor for the setpoint Kalman filter. In general, the higher the value, the more dynamic Kalman filter gets
setpoint_kalman_w	4	1	40	Window size for the setpoint Kalman filter. Wider the window, more samples are used to compute variance. In general, wider window results in smoother filter response
sim_ground_station_number	empty			Number of phone that is used to communicate with SIM module. Messages / calls from other numbers are ignored. If undefined, can be set by calling or sending a message to the module.
sim_low_altitude	-32767	-32768	32767	Threshold for low altitude warning messages sent by SIM module when the 'L' transmit flag is set in sim_transmit_flags.
sim_pin	0000			PIN code for the SIM module
sim_transmit_flags	SIM_TX_FLAG_FAILSAFE		63	Bitmask specifying text message transmit condition flags for the SIM module. 1: continuous transmission, 2: continuous transmission in failsafe mode, 4: continuous transmission when GPS signal quality is low, 8: acceleration events, 16: continuous transmission when altitude is below sim_low_altitude
sim_transmit_interval	60	SIM_MIN_TRANSMIT_INTERVAL	65535	Text message transmission interval in seconds for SIM module. Minimum value: 10
small_angle	25	0	180	If the aircraft tilt angle exceed this value the copter will refuse to arm.
smartport_fuel_unit	MAH			S.Port telemetry only: Unit of the value sent with the FUEL ID (FrSky D-Series always sends percent). [PERCENT/MAH/MWH]
smartport_master_halfduplex	ON
smartport_master_inverted	OFF
smith_predictor_delay	0	0	8	Expected delay of the gyro signal. In milliseconds
smith_predictor_lpf_hz	50	1	500	Cutoff frequency for the Smith Predictor Low Pass Filter
smith_predictor_strength	0.5	0	1	The strength factor of a Smith Predictor of PID measurement. In percents
spektrum_sat_bind	SPEKTRUM_SAT_BIND_DISABLED	SPEKTRUM_SAT_BIND_DISABLED	SPEKTRUM_SAT_BIND_MAX	0 = disabled. Used to bind the spektrum satellite to RX
srxl2_baud_fast	ON
srxl2_unit_id	1	0	15
stats	OFF			General switch of the statistics recording feature (a.k.a. odometer)
stats_total_dist	0		2147483647	Total flight distance [in meters]. The value is updated on every disarm when "stats" are enabled.
stats_total_energy	0		2147483647
stats_total_time	0		2147483647	Total flight time [in seconds]. The value is updated on every disarm when "stats" are enabled.
switch_disarm_delay	250	0	1000	Delay before disarming when requested by switch (ms) [0-1000]
telemetry_halfduplex	ON			S.Port telemetry only: Turn UART into UNIDIR for usage on F1 and F4 target. See Telemetry.md for details
telemetry_inverted	OFF			Determines if the telemetry protocol default signal inversion is reversed. This should be OFF in most cases unless a custom or hacked RX is used.
telemetry_switch	OFF			Which aux channel to use to change serial output & baud rate (MSP / Telemetry). It disables automatic switching to Telemetry when armed.
thr_comp_weight	1	0	2	Weight used for the throttle compensation based on battery voltage. See the battery documentation
thr_expo	0	0	100	Throttle exposition value
thr_mid	50	0	100	Throttle value when the stick is set to mid-position. Used in the throttle curve calculation.
throttle_idle	15	0	30	The percentage of the throttle range (max_throttle - min_command) above min_command used for minimum / idle throttle.
throttle_scale	1.0	0	1	Throttle scaling factor. 1 means no throttle scaling. 0.5 means throttle scaled down by 50%
throttle_tilt_comp_str	0	0	100	Can be used in ANGLE and HORIZON mode and will automatically boost throttle when banking. Setting is in percentage, 0=disabled.
tpa_breakpoint	1500	PWM_RANGE_MIN	PWM_RANGE_MAX	See tpa_rate.
tpa_rate	0	0	100	Throttle PID attenuation reduces influence of P on ROLL and PITCH as throttle increases. For every 1% throttle after the TPA breakpoint, P is reduced by the TPA rate.
tri_unarmed_servo	ON			On tricopter mix only, if this is set to ON, servo will always be correcting regardless of armed state. to disable this, set it to OFF.
tz_automatic_dst	OFF			Automatically add Daylight Saving Time to the GPS time when needed or simply ignore it. Includes presets for EU and the USA - if you live outside these areas it is suggested to manage DST manually via tz_offset.
tz_offset	0	-1440	1440	Time zone offset from UTC, in minutes. This is applied to the GPS time for logging and time-stamping of Blackbox logs
vbat_adc_channel	target default	ADC_CHN_NONE	ADC_CHN_MAX	ADC channel to use for battery voltage sensor. Defaults to board VBAT input (if available). 0 = disabled
vbat_cell_detect_voltage	425	100	500	Maximum voltage per cell, used for auto-detecting the number of cells of the battery in 0.01V units.
vbat_max_cell_voltage	420	100	500	Maximum voltage per cell in 0.01V units, default is 4.20V
vbat_meter_type	ADC			Vbat voltage source. Possible values: NONE, ADC, ESC. ESC required ESC telemetry enebled and running
vbat_min_cell_voltage	330	100	500	Minimum voltage per cell, this triggers battery out alarms, in 0.01V units, default is 330 (3.3V)
vbat_scale	target default	VBAT_SCALE_MIN	VBAT_SCALE_MAX	Battery voltage calibration value. 1100 = 11:1 voltage divider (10k:1k) x 100. Adjust this slightly if reported pack voltage is different from multimeter reading. You can get current voltage by typing "status" in cli.
vbat_warning_cell_voltage	350	100	500	Warning voltage per cell, this triggers battery-warning alarms, in 0.01V units, default is 350 (3.5V)
vtx_band	4	VTX_SETTINGS_NO_BAND	VTX_SETTINGS_MAX_BAND	Configure the VTX band. Set to zero to use vtx_freq. Bands: 1: A, 2: B, 3: E, 4: F, 5: Race.
vtx_channel	1	VTX_SETTINGS_MIN_CHANNEL	VTX_SETTINGS_MAX_CHANNEL	Channel to use within the configured vtx_band. Valid values are [1, 8].
vtx_halfduplex	ON			Use half duplex UART to communicate with the VTX, using only a TX pin in the FC.
vtx_low_power_disarm	OFF			When the craft is disarmed, set the VTX to its lowest power. ON will set the power to its minimum value on startup, increase it to vtx_power when arming and change it back to its lowest setting after disarming. UNTIL_FIRST_ARM will start with minimum power, but once the craft is armed it will increase to vtx_power and it will never decrease until the craft is power cycled.
vtx_max_power_override	0	0	10000	Some VTXes may report max power incorrectly (i.e. 200mW for a 600mW VTX). Use this to override max supported power. 0 to disable and use whatever VTX reports as its capabilities
vtx_pit_mode_chan	1	VTX_SETTINGS_MIN_CHANNEL	VTX_SETTINGS_MAX_CHANNEL
vtx_power	1	VTX_SETTINGS_MIN_POWER	VTX_SETTINGS_MAX_POWER	VTX RF power level to use. The exact number of mw depends on the VTX hardware.
vtx_smartaudio_early_akk_workaround	ON			Enable workaround for early AKK SAudio-enabled VTX bug.
yaw_deadband	5	0	100	These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle.
yaw_lpf_hz	0	0	200	Yaw low pass filter cutoff frequency. Should be disabled (set to 0) on small multirotors (7 inches and below)
yaw_rate	20	2	180	Defines rotation rate on YAW axis that UAV will try to archive on max. stick deflection. Rates are defined in tens of degrees (deca-degrees) per second [rate = dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure.

Note: this table is autogenerated. Do not edit it manually.