inav/docs/Cli.md

Command Line Interface (CLI)

INAV has a command line interface (CLI) that can be used to change settings and configure the FC.

Accessing the CLI.

The CLI can be accessed via the GUI tool or via a terminal emulator connected to the CLI serial port.

1. Connect your terminal emulator to the CLI serial port (which, by default, is the same as the MSP serial port)
2. Use the baudrate specified by msp_baudrate (115200 by default).
3. Send a # character.

To save your settings type in 'save', saving will reboot the flight controller.

To exit the CLI without saving power off the flight controller or type in 'exit'.

To see a list of other commands type in 'help' and press return.

To dump your configuration (including the current profile), use the 'dump' command.

See the other documentation sections for details of the cli commands and settings that are available.

Backup via CLI

Disconnect main power, connect to cli via USB/FTDI.

dump using cli

rateprofile 0
profile 0
dump

dump profiles using cli if you use them

profile 1
dump profile
profile 2
dump profile

dump rate profiles using cli if you use them

rateprofile 1
dump rates
rateprofile 2
dump rates

copy screen output to a file and save it.

Restore via CLI.

Use the cli defaults command first.

When restoring from a backup it is a good idea to do a dump of the latest defaults so you know what has changed - if you do this each time a firmware release is created youwill be able to see the cli changes between firmware versions. For instance, in December 2014 the default GPS navigation PIDs changed. If you blindly restore your backup you would not benefit from these new defaults.

Use the CLI and send all the output from the saved backup commands.

Do not send the file too fast, if you do the FC might not be able to keep up when using USART adapters (including built in ones) since there is no hardware serial flow control.

You may find you have to copy/paste a few lines at a time.

Repeat the backup process again!

Compare the two backups to make sure you are happy with your restored settings.

Re-apply any new defaults as desired.

CLI Command Reference

Command	Description
1wire <esc>	passthrough 1wire to the specified esc
adjrange	show/set adjustment ranges settings
aux	show/set aux settings
mmix	design custom motor mixer
smix	design custom servo mixer
color	configure colors
defaults	reset to defaults and reboot
dump	print configurable settings in a pastable form
exit
feature	list or -val or val
get	get variable value
gpspassthrough	passthrough gps to serial
help
led	configure leds
map	mapping of rc channel order
mixer	mixer name or list
motor	get/set motor output value
play_sound	index, or none for next
profile	index (0 to 2)
rateprofile	index (0 to 2)
rxrange	configure rx channel ranges (end-points)
save	save and reboot
set	name=value or blank or * for list
status	show system status
version

CLI Variable Reference

Variable Name	Default Value	Description
looptime	2000	This is the main loop time (in us). Changing this affects PID effect with some PID controllers (see PID section for details). Default of 3500us/285Hz should work for everyone. Setting it to zero does not limit loop time, so it will go as fast as possible.
i2c_overclock	OFF	Enabling this feature speeds up IMU speed significantly and faster looptimes are possible.
gyro_sync	OFF	This option enables gyro_sync feature. In this case the loop will be synced to gyro refresh rate. Loop will always wait for the newest gyro measurement. Use gyro_lpf and gyro_sync_denom determine the gyro refresh rate. Note that different targets have different limits. Setting too high refresh rate can mean that FC cannot keep up with the gyro and higher gyro_sync_denom is needed,
gyro_sync_denom	2	This option determines the sampling ratio. Denominator of 1 means full gyro sampling rate. Denominator 2 would mean 1/2 samples will be collected. Denominator and gyro_lpf will together determine the control loop speed.
acc_task_frequency	500	Determines accelerometer task frequency in async_mode = ALL. Depending on UAV type this frequency can be lowered to conserve CPU resources as long as vibrations are not a problem.
attitude_task_frequency	250	Determines attitude task frequency when async_mode = ALL
async_mode	NONE	Enables asynchronous mode processing for gyro/accelerometer and attitude computations. Allowed modes: NONE -> default behavior, all calculations are executed in main PID loop. GYRO -> gyro samling and filtering is detached from main PID loop. PID loop runs based on looptime while gyro sampling uses gyro_sync_denom and gyro_lpf combination to determine its frequency. ALL -> in this mode, gyro, accelerometer and attitude are running as separate tasks. Accelerometer task frequency is determined by acc_task_frequency, attitude task frequency by attitude_task_frequency. In this mode ANGLE and HORIZON, as well GPS assisted flight modes (including PosHold) performance might be lowered.
mid_rc	1500	This is an important number to set in order to avoid trimming receiver/transmitter. Most standard receivers will have this at 1500, however Futaba transmitters will need this set to 1520. A way to find out if this needs to be changed, is to clear all trim/subtrim on transmitter, and connect to GUI. Note the value most channels idle at - this should be the number to choose. Once midrc is set, use subtrim on transmitter to make sure all channels (except throttle of course) are centered at midrc value.
min_check	1100	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_check	1900	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.
rssi_channel	0	RX channel containing the RSSI signal
rssi_scale	30	When using ADC RSSI, the raw ADC value will be divided by rssi_scale in order to get the RSSI percentage. RSSI scale is therefore the ADC raw value for 100% RSSI.
rssi_ppm_invert	OFF
rc_smoothing	ON	Interpolation of Rc data during looptimes when there are no new updates. This gives smoother RC input to PID controller and cleaner PIDsum
input_filtering_mode	OFF	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.
min_throttle	1150	These are min/max values (in us) that are sent to esc when armed. Defaults of 1150/1850 are OK for everyone, for use with AfroESC, they could be set to 1064/1864.
max_throttle	1850	These are min/max values (in us) that are sent to esc when armed. Defaults of 1150/1850 are OK for everyone, for use with AfroESC, they could be set to 1064/1864. If you have brushed motors, the value should be set to 2000.
min_command	1000	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.
3d_deadband_low	1406	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_high	1514	High value of throttle deadband for 3D mode (when stick is in the deadband range, the value in 3d_neutral is used instead)
3d_neutral	1460	Neutral (stop) throttle value for 3D mode
3d_deadband_throttle	50	Throttle signal will be held to a fixed value when throttle is centered with an error margin defined in this parameter.
motor_pwm_rate	400	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.
motor_pwm_protocol	STANDARD	Protocol that is used to send motor updates to ESCs. Possible values - STANDARD, ONESHOT125, ONESHOT42, MULTISHOT, BRUSHED
fixed_wing_auto_arm	OFF	Auto-arm fixed wing aircraft on throttle above min_throttle, and disarming with stick commands are disabled, so power cycle is requirred to disarm. Requirres enabled motorstop and no arm switch configured.
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.
auto_disarm_delay	5	Delay before automatic disarming when using stick arming and MOTOR_STOP. This does not apply when using FIXED_WING
small_angle	25	If the aircraft tilt angle exceed this value the copter will refuse to arm.
reboot_character	82	Special character used to trigger reboot
gps_provider	UBLOX	Which GPS protocol to be used
gps_sbas_mode	NONE	Which SBAS mode to be used
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_auto_config	ON	Enable automatic configuration of UBlox GPS receivers.
gps_auto_baud	ON	Automatic configuration of GPS baudrate(The spesified 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
inav_auto_mag_decl	ON	Automatic setting of magnetic declination based on GPS position. When used manual magnetic declination is ignored.
inav_accz_unarmedcal	ON	Controls if inertial position estimator should compute gravity offset on accelerometer Z-axis dynamically when drone is unarmed. Mostly affects accuracy of altitude estimation and althold performace. No real reason to disable this feature.
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_gps_delay	200	GPS position and velocity data usually arrive with a delay. This parameter defines this delay. Default (200) should be reasonable for most GPS receivers.
inav_gps_min_sats	6	Minimum number of GPS satellites in view to consider GPS position valid. Some GPS receivers appeared to be very inaccurate with low satellite count.
inav_w_z_baro_p	0.350	Weight of barometer measurements in estimated altitude and climb rate
inav_w_z_gps_p	0.200	Weight of GPS altitude measurements in estimated altitude. Setting is used only of airplanes
inav_w_z_gps_v	0.500	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_xy_gps_p	1.000	Weight of GPS coordinates in estimated UAV position and speed.
inav_w_xy_gps_v	2.000	Weight of GPS velocity data in estimated UAV speed
inav_w_z_res_v	0.500	Decay coefficient for estimated climb rate when baro/GPS reference for altitude is lost
inav_w_xy_res_v	0.500	Decay coefficient for estimated velocity when GPS reference for position is lost
inav_w_acc_bias	0.010	Weight for accelerometer drift estimation
inav_max_eph_epv	1000.000	Maximum uncertainty value (cm) until estimated position is considered valid and is used for navigation
inav_baro_epv	100.000	Uncertainty value (cm) for barometric sensor
nav_disarm_on_landing	OFF	If set to ON, iNav disarms the FC after landing
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 netraul midpoint for holding altitude
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
nav_user_control_mode	ATTI	Defines how Pitch/Roll input from RC receiver affects flight in POSHOLD mode: ATTI - right stick controls attitude like in ANGLE mode; CRUISE - right stick controls velocity in forward and right direction.
nav_position_timeout	5	If GPS fails wait for this much seconds before switching to emergency landing mode (0 - disable)
nav_wp_radius	100	Waypoint radius [cm]. Waypoint would be considered reached if machine is within this radius
nav_max_speed	300	Maximum velocity firmware is allowed in full auto modes (POSHOLD, RTH, WP) [cm/s] [Multirotor only]
nav_max_climb_rate	500	Maximum climb/descent rate that UAV is allowed to reach during navigation modes. In cm/s
nav_manual_speed	500	Maximum velocity firmware is allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]
nav_manual_climb_rate	200	Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]
nav_landing_speed	200	Vertical descent velocity during the RTH landing phase. [cm/s]
nav_land_slowdown_minalt	500	Defines at what altitude the descent velocity should start to be 25% of nav_landing_speed [cm]
nav_land_slowdown_maxalt	2000	Defines at what altitude the descent velocity should start to ramp down from 100% nav_landing_speed to 25% nav_landing_speed. [cm]
nav_emerg_landing_speed	500	Rate of descent UAV will try to maintain when doing emergency descent sequence
nav_min_rth_distance	500	Minimum distance from homepoint when RTH can be activated [cm]
nav_rth_climb_first	ON	If set to ON drone will climb to nav_rth_altitude first and head home afterwards. If set to OFF drone will head home instantly and climb on the way.
nav_rth_tail_first	OFF	If set to ON drone will return tail-first. Obviously meaningless for airplanes.
nav_rth_alt_mode	AT_LEAST	Configure how the aircraft will manage altitude on the way home, se Navigation modes on wiki for more details
nav_rth_altitude	1000	Used in EXTRA, FIXED and AT_LEAST rth alt modes (Default 1000 means 10 meters)
nav_mc_bank_angle	30	Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude
nav_mc_hover_thr	1500	Multicopter hover throttle hint for altitude controller. Should be set to approximate throttle value when drone is hovering.
nav_mc_auto_disarm_delay	2000
nav_fw_cruise_thr	1400	Cruise throttle in GPS assisted modes. Should be set high enough to avoid stalling
nav_fw_min_thr	1200	Minimum throttle for flying wing in GPS assisted modes
nav_fw_max_thr	1700	Maximum throttle for flying wing in GPS assisted modes
nav_fw_bank_angle	20	Max roll angle when rolling / turning in GPS assisted modes, is also restrained by global max_angle_inclination_rll
nav_fw_climb_angle	20	Max pitch angle when climbing in GPS assisted modes, is also restrained by global max_angle_inclination_pit
nav_fw_dive_angle	15	Max negative pitch angle when diving in GPS assisted modes, is also restrained by global max_angle_inclination_pit
nav_fw_pitch2thr	10	Amount of throttle applied related to pitch attitude in GPS assisted modes
nav_fw_roll2pitch	75	Amount of positive pitch (nose up) when the plane turns by ailerons in GPS assisted modes. With high wind is better lowering this
nav_fw_loiter_radius	5000	PosHold radius in cm. 3000 to 7500 is a good value (30-75m)
nav_fw_launch_velocity	300	Forward velocity threshold for swing-launch detection (cm/s)
nav_fw_launch_accel	1863	Forward acceleration threshold for bungee launch of throw launch (cm/s/s, 1G = 981 cm/s/s)
nav_fw_launch_detect_time	40	Time for which thresholds have to breached to consider launch happened (ms)
nav_fw_launch_thr	1700	Launch throttle - throttle to be set during launch sequence (pwm units)
nav_fw_launch_idle_thr	1000	Launch idle throttle - throttle to be set before launch sequence is initiated. If set below min_throttle it will force motor stop or at idle throttle (depending if the MOTOR_STOP is enabled). If set above min_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_motor_delay	500	Delay between detected launch and launch sequence start and throttling up (ms)
nav_fw_launch_spinup_time	100	Time to bring power from min_throttle to nav_fw_launch_thr - to avoid big stress on ESC and large torque from propeller
nav_fw_launch_timeout	5000	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_climb_angle	10	Climb angle for launch sequence (degrees), is also restrained by global max_angle_inclination_pit
serialrx_provider	SPEK1024	When feature SERIALRX is enabled, this allows connection to several receivers which output data via digital interface resembling serial. See RX section.
sbus_inversion	OFF	Standard SBUS (Futaba, FrSKY) uses an inverted signal. Some OpenLRS receivers produce a non-inverted SBUS signal. This setting is to support this type of receivers (including modified FrSKY). This only works on supported hardware (mainly F3 based flight controllers).
spektrum_sat_bind	0	0 = disabled. Used to bind the spektrum satellite to RX
telemetry_switch	OFF	Which aux channel to use to change serial output & baud rate (MSP / Telemetry). It disables automatic switching to Telemetry when armed.
telemetry_inversion	ON	Determines if the telemetry signal is inverted (Futaba, FrSKY). Only suitable on F3 uarts and Softserial on all targets
frsky_default_lattitude	0.000	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	0.000	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_coordinates_format	0	FRSKY_FORMAT_DMS (default), FRSKY_FORMAT_NMEA
frsky_unit	IMPERIAL	IMPERIAL (default), METRIC
frsky_vfas_precision	0	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
frsky_vfas_cell_voltage	OFF
hott_alarm_sound_interval	5	Battery alarm delay in seconds for Hott telemetry
smartport_uart_unidir	OFF	Turn UART into UNIDIR for smartport telemetry for usage on F1 and F4 target. See Telemertry.md for details
battery_capacity	0	Battery capacity in mAH. This value is used in conjunction with the current meter to determine remaining battery capacity.
vbat_scale	110	Result is Vbatt in 0.1V steps. 3.3V = ADC Vref, 4095 = 12bit adc, 110 = 11:1 voltage divider (10k:1k) x 10 for 0.1V. Adjust this slightly if reported pack voltage is different from multimeter reading. You can get current voltage by typing "status" in cli.
vbat_max_cell_voltage	43	Maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, default is 43 (4.3V)
vbat_min_cell_voltage	33	Minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V)
vbat_warning_cell_voltage	35	Warning voltage per cell, this triggers battery-warning alarms, in 0.1V units, default is 35 (3.5V)
current_meter_scale	400	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_offset	0	This sets the output offset voltage of the current sensor in millivolts.
multiwii_current_meter_output	OFF	Default current output via MSP is in 0.01A steps. Setting this to 1 causes output in default multiwii scaling (1mA steps)
current_meter_type	ADC	ADC (default), VIRTUAL, NONE. The virtual current sensor, once calibrated, estimates the current value from throttle position.
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_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_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_board_roll	0	Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc
align_board_pitch	0	Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc
align_board_yaw	0	Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc
gyro_lpf	42HZ	Hardware lowpass filter for gyro. Allowed values depend on the driver - For example MPU6050 allows 10HZ,20HZ,42HZ,98HZ,188HZ,256Hz (8khz mode). If you have to set gyro lpf below 42Hz generally means the frame is vibrating too much, and that should be fixed first.
moron_threshold	32	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 (default of 32) means how much average gyro reading could differ before re-calibration is triggered.
imu_dcm_kp	2500	Inertial Measurement Unit KP Gain for accelerometer measurements
imu_dcm_ki	50	Inertial Measurement Unit KI Gain for accelerometer measurements
imu_dcm_kp_mag	10000	Inertial Measurement Unit KP Gain for compass measurements
imu_dcm_ki_mag	0	Inertial Measurement Unit KI Gain for compass measurements
pos_hold_deadband	20	Stick deadband in [r/c points], applied after r/c deadband and expo
alt_hold_deadband	50	Defines the deadband of throttle during alt_hold [r/c points]
yaw_motor_direction	1	Use if you need to inverse yaw motor direction.
yaw_jump_prevention_limit	200	Prevent yaw jumps during yaw stops and rapid YAW input. To disable set to 500. Adjust this if your aircraft 'skids out'. Higher values increases YAW authority but can cause roll/pitch instability in case of underpowered UAVs. Lower values makes yaw adjustments more gentle but can cause UAV unable to keep heading
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.
servo_lowpass_freq	400	Selects the servo PWM output cutoff frequency. Value is in [Hz]
servo_lowpass_enable	OFF
servo_center_pulse	1500	Servo midpoint
servo_pwm_rate	50	Output frequency (in Hz) servo pins. Default is 50Hz. 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.
failsafe_delay	5	Time in deciseconds to wait before activating failsafe when signal is lost. See Failsafe documentation.
failsafe_recovery_delay	5	Time in deciseconds to wait before aborting failsafe when signal is recovered. See Failsafe documentation.
failsafe_off_delay	200	Time in deciseconds to wait before turning off motors when failsafe is activated. See Failsafe documentation.
failsafe_throttle	1000	Throttle level used for landing when failsafe is enabled. See Failsafe documentation.
failsafe_kill_switch	OFF	Set to ON to use an AUX channel as a failsafe kill switch.
failsafe_throttle_low_delay	100	Activate failsafe when throttle is low and no RX data has been received since this value, in 10th of seconds
failsafe_procedure	SET-THR	What failsafe procedure to initiate in Stage 2. See Failsafe documentation.
rx_min_usec	885	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_max_usec	2115	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.
acc_hardware	AUTO	Selection of acc hardware. See Wiki Sensor auto detect and hardware failure detection for more info
baro_use_median_filter	ON	3-point median filtering for barometer readouts. Default: ON. No reason to change this setting
baro_hardware	AUTO	Selection of baro hardware. See Wiki Sensor auto detect and hardware failure detection for more info
mag_hardware	AUTO	Selection of mag hardware. See Wiki Sensor auto detect and hardware failure detection for more info
blackbox_rate_num	1	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
blackbox_rate_denom	1	Blackbox logging rate denominator. See blackbox_rate_num.
blackbox_device	SPIFLASH	Selection of where to write blackbox data
magzero_x	0	Magnetometer calibration X offset. If its 0 none offset has been applied and calibration is failed.
magzero_y	0	Magnetometer calibration Y offset. If its 0 none offset has been applied and calibration is failed.
magzero_z	0	Magnetometer calibration Z offset. If its 0 none offset has been applied and calibration is failed.
acczero_x	0	Calculated value after '6 position avanced calibration'. See Wiki page.
acczero_y	0	Calculated value after '6 position avanced calibration'. See Wiki page.
acczero_z	0	Calculated value after '6 position avanced calibration'. See Wiki page.
ledstrip_visual_beeper	OFF
accgain_x	4096	Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.
accgain_y	4096	Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.
accgain_z	4096	Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.
nav_alt_p	50	P gain of altitude PID controller
nav_alt_i	0	I gain of altitude PID controller
nav_alt_d	0	D gain of altitude PID controller
nav_vel_p	100	P gain of velocity PID controller
nav_vel_i	50	I gain of velocity PID controller
nav_vel_d	10	D gain of velocity PID controller
nav_pos_p	65	Controls how fast the drone will fly towards the target position. This is a multiplier to convert displacement to target velocity
nav_pos_i	120	Controls deceleration time. Measured in 1/100 sec. Expected hold position is placed at a distance calculated as decelerationTime * currentVelocity
nav_pos_d	10
nav_posr_p	180	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_posr_i	15	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_posr_d	100	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_navr_p	10	P gain of 2D trajectory PID controller. Play with this to get a straigh line between waypoints or a straight RTH
nav_navr_i	5	I gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tunning with zero
nav_navr_d	8	D gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tunning with zero
deadband	5	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_deadband	5	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.
throttle_tilt_comp_str	0	Can be used in ANGLE and HORIZON mode and will automatically boost throttle when banking. Setting is in percentage, 0=disabled.
flaperon_throw_offset	250	Defines throw range in us for both ailerons that will be applied (before scaling) when FLAPERON mode is activated.
flaperon_throw_inverted	OFF	Inverts throw offset on both ailerons. Can be used to create SPOILERON or just to change throw direction
gimbal_mode	NORMAL	When feature SERVO_TILT is enabled, this can be either NORMAL or MIXTILT
fw_iterm_throw_limit	165	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.
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.
default_rate_profile	0	Default = profile number
mag_declination	0	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 aquirre valid GPS fix.
mag_hold_rate_limit	90	This setting limits yaw rotation rate that MAG_HOLD controller can request from PID inner loop controller. It is independent from manual yaw rate and used only when MAG_HOLD flight mode is enabled by pilot, RTH or WAYPOINT modes.
mc_p_pitch	40	Multicopter rate stabilisation P-gain for PITCH
mc_i_pitch	30	Multicopter rate stabilisation I-gain for PITCH
mc_d_pitch	23	Multicopter rate stabilisation D-gain for PITCH
mc_p_roll	40	Multicopter rate stabilisation P-gain for ROLL
mc_i_roll	30	Multicopter rate stabilisation I-gain for ROLL
mc_d_roll	23	Multicopter rate stabilisation D-gain for ROLL
mc_p_yaw	85	Multicopter rate stabilisation P-gain for YAW
mc_i_yaw	45	Multicopter rate stabilisation I-gain for YAW
mc_d_yaw	0	Multicopter rate stabilisation D-gain for YAW
mc_p_level	20	Multicopter attitude stabilisation P-gain
mc_i_level	15	Multicopter attitude stabilisation low-pass filter cutoff
mc_d_level	75	Multicopter attitude stabilisation HORIZON transition point
fw_p_pitch	20	Fixed-wing rate stabilisation P-gain for PITCH
fw_i_pitch	30	Fixed-wing rate stabilisation I-gain for PITCH
fw_ff_pitch	10	Fixed-wing rate stabilisation FF-gain for PITCH
fw_p_roll	25	Fixed-wing rate stabilisation P-gain for ROLL
fw_i_roll	30	Fixed-wing rate stabilisation I-gain for ROLL
fw_ff_roll	10	Fixed-wing rate stabilisation FF-gain for ROLL
fw_p_yaw	50	Fixed-wing rate stabilisation P-gain for YAW
fw_i_yaw	45	Fixed-wing rate stabilisation I-gain for YAW
fw_ff_yaw	0	Fixed-wing rate stabilisation FF-gain for YAW
fw_p_level	20	Fixed-wing attitude stabilisation P-gain
fw_i_level	15	Fixed-wing attitude stabilisation low-pass filter cutoff
fw_d_level	75	Fixed-wing attitude stabilisation HORIZON transition point
max_angle_inclination_rll	300	Maximum inclination in level (angle) mode (ROLL axis). 100=10°
max_angle_inclination_pit	300	Maximum inclination in level (angle) mode (PITCH axis). 100=10°
gyro_soft_lpf_hz	60	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. Default 60Hz
acc_soft_lpf_hz	15	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. Default 15Hz
dterm_lpf_hz	40
yaw_lpf_hz	30
pidsum_limit	500	A limitation to overall amount of correction Flight PID can request on each axis (Roll/Pitch/Yaw). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help
yaw_p_limit	300
iterm_ignore_threshold	200	Used to prevent Iterm accumulation on ROLL/PITCH axis during stick movements. Iterm is allowed to change fully when sticks are centered. Iterm will not change when requested rotation speed is above iterm_ignore_threshold. Iterm acumulation is scaled lineary between 0 and iterm_ignore_threshold
yaw_iterm_ignore_threshold	50	Used to prevent Iterm accumulation on YAW axis during stick movements. Iterm is allowed to change fully when sticks are centered. Iterm will not change when requested rotation speed is above yaw_iterm_ignore_threshold. Iterm acumulation is scaled lineary between 0 and yaw_iterm_ignore_threshold
rate_accel_limit_roll_pitch	0	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	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 durig yaw turns. Value of 0 disables limiting. Enabled by default.
rc_expo	70	Exposition value for all RC directions
rc_yaw_expo	20	Yaw exposition value
thr_mid	50	Throttle value when the stick is set to mid-position. Used in the throttle curve calculation.
thr_expo	0	Throttle exposition value
roll_rate	20	Defines rotation rate on ROLL axis that UAV will try to archive on max. stick deflection. Rates are defined in tenths of degrees per second [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.
pitch_rate	20	Defines rotation rate on PITCH axis that UAV will try to archive on max. stick deflection. Rates are defined in tenths of degrees per second [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.
yaw_rate	20	Defines rotation rate on YAW axis that UAV will try to archive on max. stick deflection. Rates are defined in tenths of degrees per second [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.
tpa_rate	0	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.
tpa_breakpoint	1500	See tpa_rate.

This Markdown table is made by MarkdwonTableMaker addon for google spreadsheet. Original Spreadsheet used to make this table can be found here https://docs.google.com/spreadsheets/d/1ubjYdMGmZ2aAMUNYkdfe3hhIF7wRfIjcuPOi_ysmp00/edit?usp=sharing