inav-simplefc/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' or 'diff' 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

profile 0
dump

dump profiles using cli if you use them

profile 1
dump profile
profile 2
dump profile

copy screen output to a file and save it.

Alternatively, use the diff command to dump only those settings that differ from their default values (those that have been changed).

Restore via CLI.

Use the cli defaults command first.

When restoring from backup it's 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 you will be able to see the cli changes between firmware versions. If you blindly restore your backup you would not benefit from these new defaults or may even end up with completely wrong settings in case some parameters changed semantics and/or value ranges.

It may be good idea to restore settings using the diff output rather than complete dump. This way you can have more control on what is restored and the risk of mistakenly restoring bad values if the semantics changes is minimised.

To perform the restore simply paste the saved commands in the Configurator CLI tab and then type save.

After restoring it's always a good idea to dump or diff the settings once again and compare the output with previous one to verify if everything is set as it should be.

CLI Command Reference

Command	Description
adjrange	Configure adjustment ranges
assert
aux	Configure modes
batch	Start or end a batch of commands
battery_profile	Change battery profile
beeper	Show/set beeper (buzzer) usage
bind_rx	Initiate binding for RX SPI or SRXL2
blackbox	Configure blackbox fields
bootlog	Show boot events
color	Configure colors
defaults	Reset to defaults and reboot
dfu	DFU mode on reboot
diff	List configuration changes from default
dump	Dump configuration
eleres_bind
exit
feature	List or enable or disable <-val>
flash_erase	Erase flash chip
flash_info	Show flash chip info
flash_read
flash_write
get	Get variable value
gpspassthrough	Passthrough gps to serial
gvar	Configure global variables
help	Displays CLI help and command parameters / options
imu2	Secondary IMU
led	Configure leds
logic	Configure logic conditions
map	Configure rc channel order
memory	View memory usage
mmix	Custom motor mixer
mode_color	Configure mode and special colors
motor	Get/set motor
msc	Enter USB Mass storage mode. See USB MSC documentation for usage information.
osd_layout	Get or set the layout of OSD items
pid	Configurable PID controllers
play_sound	<index>, or none for next item
profile	Change profile
resource	View currently used resources
rxrange	Configure rx channel ranges
safehome	Define safe home locations. See the safehome documentation for usage information.
save	Save and reboot
sd_info	Sdcard info
serial	Configure serial ports. Usage
serialpassthrough	Passthrough serial data to port, with <id> <baud> <mode>, where id is the zero based port index, baud is a standard baud rate, and mode is rx, tx, or both (rxtx)
servo	Configure servos
set	Change setting with name=value or blank or * for list
smix	Custom servo mixer
status	Show status
tasks	Show task stats
temp_sensor	List or configure temperature sensor(s). See temperature sensors documentation for more information.
version	Show version
wp	List or configure waypoints. See the navigation documentation.

Notes:

• Available commands depend upon hardware specific and debug build options. Not all commands are available in every FC.
• The above list shows the output available in the CLI help command. This may also show additional information.

serial

The syntax of the serial command is serial <id> <function_value> <msp-baudrate> <gps-baudrate> <telemetry-baudate> <peripheral-baudrate>.

A shorter form is also supported to enable and disable a single function using serial <id> +n and serial <id> -n, where n is the a serial function identifier. The following values are available:

Function	Bit Identifier	Numeric value
MSP	0	1
GPS	1	2
TELEMETRY_FRSKY	2	4
TELEMETRY_HOTT	3	8
TELEMETRY_LTM	4	16
TELEMETRY_SMARTPORT	5	32
RX_SERIAL	6	64
BLACKBOX	7	128
TELEMETRY_MAVLINK	8	256
TELEMETRY_IBUS	9	512
RCDEVICE	10	1024
VTX_SMARTAUDIO	11	2048
VTX_TRAMP	12	4096
UAV_INTERCONNECT	13	8192
OPTICAL_FLOW	14	16384
LOG	15	32768
RANGEFINDER	16	65536
VTX_FFPV	17	131072
ESCSERIAL	18	262144
TELEMETRY_SIM	19	524288
FRSKY_OSD	20	1048576
DJI_HD_OSD	21	2097152
SERVO_SERIAL	22	4194304
TELEMETRY_SMARTPORT_MASTER	23	8388608
IMU2	24	16777216
HDZERO	25	33554432

Thus, to enable MSP and LTM on a port, one would use the function value of 17 (1 << 0)+(1<<4), aka 1+16, aka 17.

serial 0 17 57600 57600 57600 57600

but to remove LTM using the +/- shorthand, use the bit Id (4, TELEMETRY_LTM):

serial 0 -4

serial can also be used without any argument to print the current configuration of all the serial ports.

Flash chip management

For targets that have a flash data chip, typically used for blackbox logs, the following additional comamnds are provided.

Command	Effect
flash_erase	Erases the flash chip
flash_info	Displays flash chip information (used, free etc.)
flash_read <length> <address>	Reads length bytes from address
flash_write <address> <data>	Writes data to address

CLI Variable Reference

See Settings.md.