inav-simplefc/docs/Settings.md

CLI Variable Reference

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

3d_deadband_high

High value of throttle deadband for 3D mode (when stick is in the deadband range, the value in 3d_neutral is used instead)

Default	Min	Max
1514	PWM_RANGE_MIN	PWM_RANGE_MAX

---

3d_deadband_low

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)

Default	Min	Max
1406	PWM_RANGE_MIN	PWM_RANGE_MAX

---

3d_deadband_throttle

Throttle signal will be held to a fixed value when throttle is centered with an error margin defined in this parameter.

Default	Min	Max
50	0	200

---

3d_neutral

Neutral (stop) throttle value for 3D mode

Default	Min	Max
1460	PWM_RANGE_MIN	PWM_RANGE_MAX

---

acc_event_threshold_high

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.

Default	Min	Max
0	0	65535

---

acc_event_threshold_low

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.

Default	Min	Max
0	0	900

---

acc_event_threshold_neg_x

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.

Default	Min	Max
0	0	65535

---

acc_hardware

Selection of acc hardware. See Wiki Sensor auto detect and hardware failure detection for more info

Default	Min	Max
AUTO

---

acc_lpf_hz

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	Min	Max
15	0	200

---

acc_lpf_type

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.

Default	Min	Max
BIQUAD

---

acc_notch_cutoff

// TODO

Default	Min	Max
1	1	255

---

acc_notch_hz

// TODO

Default	Min	Max
0	0	255

---

accgain_x

Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.

Default	Min	Max
4096	1	8192

---

accgain_y

Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.

Default	Min	Max
4096	1	8192

---

accgain_z

Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.

Default	Min	Max
4096	1	8192

---

acczero_x

Calculated value after '6 position avanced calibration'. See Wiki page.

Default	Min	Max
0	-32768	32767

---

acczero_y

Calculated value after '6 position avanced calibration'. See Wiki page.

Default	Min	Max
0	-32768	32767

---

acczero_z

Calculated value after '6 position avanced calibration'. See Wiki page.

Default	Min	Max
0	-32768	32767

---

airmode_throttle_threshold

Defines airmode THROTTLE activation threshold when airmode_type THROTTLE_THRESHOLD is used

Default	Min	Max
1150	1000	2000

---

airmode_type

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.

Default	Min	Max
STICK_CENTER

---

airspeed_adc_channel

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

Default	Min	Max
target default	ADC_CHN_NONE	ADC_CHN_MAX

---

align_acc

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.

Default	Min	Max
DEFAULT

---

align_board_pitch

Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc

Default	Min	Max
0	-1800	3600

---

align_board_roll

Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc

Default	Min	Max
0	-1800	3600

---

align_board_yaw

Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc

Default	Min	Max
0	-1800	3600

---

align_gyro

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.

Default	Min	Max
DEFAULT

---

align_mag

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.

Default	Min	Max
DEFAULT

---

align_mag_pitch

Same as align_mag_roll, but for the pitch axis.

Default	Min	Max
0	-1800	3600

---

align_mag_roll

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.

Default	Min	Max
0	-1800	3600

---

align_mag_yaw

Same as align_mag_roll, but for the yaw axis.

Default	Min	Max
0	-1800	3600

---

align_opflow

Optical flow module alignment (default CW0_DEG_FLIP)

Default	Min	Max
CW0FLIP

---

alt_hold_deadband

Defines the deadband of throttle during alt_hold [r/c points]

Default	Min	Max
50	10	250

---

antigravity_accelerator

// TODO

Default	Min	Max
1	1	20

---

antigravity_cutoff_lpf_hz

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

Default	Min	Max
15	1	30

---

antigravity_gain

Max Antigravity gain. 1 means Antigravity is disabled, 2 means Iterm is allowed to double during rapid throttle movements

Default	Min	Max
1	1	20

---

applied_defaults

Internal (configurator) hint. Should not be changed manually

Default	Min	Max
0	0	3

---

baro_cal_tolerance

Baro calibration tolerance in cm. The default should allow the noisiest baro to complete calibration [cm].

Default	Min	Max
150	0	1000

---

baro_hardware

Selection of baro hardware. See Wiki Sensor auto detect and hardware failure detection for more info

Default	Min	Max
AUTO

---

baro_median_filter

3-point median filtering for barometer readouts. No reason to change this setting

Default	Min	Max
ON	OFF	ON

---

bat_cells

Number of cells of the battery (0 = auto-detect), see battery documentation. 7S, 9S and 11S batteries cannot be auto-detected.

Default	Min	Max
0	0	12

---

bat_voltage_src

Chose between raw and sag compensated battery voltage to use for battery alarms and telemetry. Possible values are RAW and SAG_COMP

Default	Min	Max
RAW

---

battery_capacity

Set the battery capacity in mAh or mWh (see battery_capacity_unit). Used to calculate the remaining battery capacity.

Default	Min	Max
0	0	4294967295

---

battery_capacity_critical

If the remaining battery capacity goes below this threshold the battery is considered empty and the beeper will emit long beeps.

Default	Min	Max
0	0	4294967295

---

battery_capacity_unit

Unit used for battery_capacity, battery_capacity_warning and battery_capacity_critical [MAH/MWH] (milliAmpere hour / milliWatt hour).

Default	Min	Max
MAH

---

battery_capacity_warning

If the remaining battery capacity goes below this threshold the beeper will emit short beeps and the relevant OSD items will blink.

Default	Min	Max
0	0	4294967295

---

beeper_pwm_mode

Allows disabling PWM mode for beeper on some targets. Switch from ON to OFF if the external beeper sound is weak. Do not switch from OFF to ON without checking if the board supports PWM beeper mode

Default	Min	Max
OFF	OFF	ON

---

blackbox_device

Selection of where to write blackbox data

Default	Min	Max
target default

---

blackbox_rate_denom

Blackbox logging rate denominator. See blackbox_rate_num.

Default	Min	Max
1	1	65535

---

blackbox_rate_num

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

Default	Min	Max
1	1	65535

---

control_deadband

Stick deadband in [r/c points], applied after r/c deadband and expo. Used to check if sticks are centered.

Default	Min	Max
10	2	250

---

controlrate_profile

Control rate profile to switch to when the battery profile is selected, 0 to disable and keep the currently selected control rate profile

Default	Min	Max
0	0	3

---

cpu_underclock

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

Default	Min	Max
OFF	OFF	ON

---

cruise_power

Power draw at cruise throttle used for remaining flight time/distance estimation in 0.01W unit

Default	Min	Max
0	0	4294967295

---

current_adc_channel

ADC channel to use for analog current sensor input. Defaults to board CURRENT sensor input (if available). 0 = disabled

Default	Min	Max
target default	ADC_CHN_NONE	ADC_CHN_MAX

---

current_meter_offset

This sets the output offset voltage of the current sensor in millivolts.

Default	Min	Max
target default	-32768	32767

---

current_meter_scale

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.

Default	Min	Max
target default	-10000	10000

---

current_meter_type

ADC , VIRTUAL, NONE. The virtual current sensor, once calibrated, estimates the current value from throttle position.

Default	Min	Max
ADC

---

d_boost_gyro_delta_lpf_hz

// TODO

Default	Min	Max
80	10	250

---

d_boost_max

// TODO

Default	Min	Max
1.25	1	3

---

d_boost_max_at_acceleration

// TODO

Default	Min	Max
7500	1000	16000

---

d_boost_min

// TODO

Default	Min	Max
0.5	0	1

---

deadband

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.

Default	Min	Max
5	0	32

---

debug_mode

Defines debug values exposed in debug variables (developer / debugging setting)

Default	Min	Max
NONE

---

disarm_kill_switch

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.

Default	Min	Max
ON	OFF	ON

---

display_force_sw_blink

OFF = OSD hardware blink / ON = OSD software blink. If OSD warning text/values are invisible, try setting this to ON

Default	Min	Max
OFF	OFF	ON

---

dji_cn_alternating_duration

Alternating duration of craft name elements, in tenths of a second

Default	Min	Max
30	1	150

---

dji_esc_temp_source

Re-purpose the ESC temperature field for IMU/BARO temperature

Default	Min	Max
ESC

---

dji_message_speed_source

Sets the speed type displayed by the DJI OSD in craft name: GROUND, 3D, AIR

Default	Min	Max
3D

---

dji_rssi_source

Source of the DJI RSSI field: RSSI, CRSF_LQ

Default	Min	Max
RSSI

---

dji_use_adjustments

Show inflight adjustments in craft name field

Default	Min	Max
OFF	OFF	ON

---

dji_use_name_for_messages

Re-purpose the craft name field for messages.

Default	Min	Max
ON	OFF	ON

---

dji_workarounds

Enables workarounds for different versions of MSP protocol used

Default	Min	Max
1	0	255

---

dshot_beeper_enabled

Whether using DShot motors as beepers is enabled

Default	Min	Max
ON	OFF	ON

---

dshot_beeper_tone

Sets the DShot beeper tone

Default	Min	Max
1	1	5

---

dterm_lpf2_hz

Cutoff frequency for stage 2 D-term low pass filter

Default	Min	Max
0	0	500

---

dterm_lpf2_type

Defines the type of stage 1 D-term LPF filter. Possible values: PT1, BIQUAD, PT2, PT3.

Default	Min	Max
PT1

---

dterm_lpf_hz

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

Default	Min	Max
110	0	500

---

dterm_lpf_type

Defines the type of stage 1 D-term LPF filter. Possible values: PT1, BIQUAD, PT2, PT3.

Default	Min	Max
PT2

---

dynamic_gyro_notch_enabled

Enable/disable dynamic gyro notch also known as Matrix Filter

Default	Min	Max
ON	OFF	ON

---

dynamic_gyro_notch_min_hz

Minimum frequency for dynamic notches. Default value of 150 works best with 5" multirotors. Should be lowered with increased size of propellers. Values around 100 work fine on 7" drones. 10" can go down to 60 - 70

Default	Min	Max
50	30	1000

---

dynamic_gyro_notch_q

Q factor for dynamic notches

Default	Min	Max
120	1	1000

---

eleres_freq

// TODO

Default	Min	Max
435	415	450

---

eleres_loc_delay

// TODO

Default	Min	Max
240	30	1800

---

eleres_loc_en

// TODO

Default	Min	Max
OFF	OFF	ON

---

eleres_loc_power

// TODO

Default	Min	Max
7	0	7

---

eleres_signature

// TODO

Default	Min	Max
0		4294967295

---

eleres_telemetry_en

// TODO

Default	Min	Max
OFF	OFF	ON

---

eleres_telemetry_power

// TODO

Default	Min	Max
7	0	7

---

esc_sensor_listen_only

Enable when BLHeli32 Auto Telemetry function is used. Disable in every other case

Default	Min	Max
OFF	OFF	ON

---

failsafe_delay

Time in deciseconds to wait before activating failsafe when signal is lost. See Failsafe documentation.

Default	Min	Max
5	0	200

---

failsafe_fw_pitch_angle

Amount of dive/climb when LAND (or old SET-THR) failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = climb

Default	Min	Max
100	-800	800

---

failsafe_fw_roll_angle

Amount of banking when LAND (or old SET-THR) failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = left roll

Default	Min	Max
-200	-800	800

---

failsafe_fw_yaw_rate

Requested yaw rate to execute when LAND (or old SET-THR) failsafe is active on a fixed-wing machine. In deg/s. Negative values = left turn

Default	Min	Max
-45	-1000	1000

---

failsafe_lights

Enable or disable the lights when the FAILSAFE flight mode is enabled. The target needs to be compiled with USE_LIGHTS [ON/OFF].

Default	Min	Max
ON	OFF	ON

---

failsafe_lights_flash_on_time

Flash lights ON time in milliseconds when failsafe_lights is ON and FAILSAFE flight mode is enabled. [20-65535].

Default	Min	Max
100	20	65535

---

failsafe_lights_flash_period

Time in milliseconds between two flashes when failsafe_lights is ON and FAILSAFE flight mode is enabled [40-65535].

Default	Min	Max
1000	40	65535

---

failsafe_min_distance

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.

Default	Min	Max
0	0	65000

---

failsafe_min_distance_procedure

What failsafe procedure to initiate in Stage 2 when craft is closer to home than failsafe_min_distance. See Failsafe documentation.

Default	Min	Max
DROP

---

failsafe_mission

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

Default	Min	Max
ON	OFF	ON

---

failsafe_off_delay

Time in deciseconds to wait before turning off motors when failsafe is activated. 0 = No timeout. See Failsafe documentation.

Default	Min	Max
200	0	200

---

failsafe_procedure

What failsafe procedure to initiate in Stage 2. See Failsafe documentation.

Default	Min	Max
LAND

---

failsafe_recovery_delay

Time in deciseconds to wait before aborting failsafe when signal is recovered. See Failsafe documentation.

Default	Min	Max
5	0	200

---

failsafe_stick_threshold

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.

Default	Min	Max
50	0	500

---

failsafe_throttle

Throttle level used for landing when failsafe is enabled. See Failsafe documentation.

Default	Min	Max
1000	PWM_RANGE_MIN	PWM_RANGE_MAX

---

failsafe_throttle_low_delay

If failsafe activated when throttle is low for this much time - bypass failsafe and disarm, in 10th of seconds. 0 = No timeout

Default	Min	Max
0	0	300

---

fixed_wing_auto_arm

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.

Default	Min	Max
OFF	OFF	ON

---

flaperon_throw_offset

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.

Default	Min	Max
200	FLAPERON_THROW_MIN	FLAPERON_THROW_MAX

---

fpv_mix_degrees

// TODO

Default	Min	Max
0	0	50

---

frsky_coordinates_format

D-Series telemetry only: FRSKY_FORMAT_DMS (default), FRSKY_FORMAT_NMEA

Default	Min	Max
0	0	FRSKY_FORMAT_NMEA

---

frsky_default_latitude

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.

Default	Min	Max
0	-90	90

---

frsky_default_longitude

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.

Default	Min	Max
0	-180	180

---

frsky_pitch_roll

S.Port and D-Series telemetry: Send pitch and roll degrees*10 instead of raw accelerometer data

Default	Min	Max
OFF	OFF	ON

---

frsky_unit

Not used? [METRIC/IMPERIAL]

Default	Min	Max
METRIC

---

frsky_vfas_precision

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

Default	Min	Max
0	FRSKY_VFAS_PRECISION_LOW	FRSKY_VFAS_PRECISION_HIGH

---

fw_autotune_max_rate_deflection

The target percentage of maximum mixer output used for determining the rates in AUTO and LIMIT.

Default	Min	Max
80	50	100

---

fw_autotune_min_stick

Minimum stick input [%], after applying deadband and expo, to start recording the plane's response to stick input.

Default	Min	Max
50	0	100

---

fw_autotune_rate_adjustment

AUTO and LIMIT adjust the rates to match the capabilities of the airplane, with LIMIT they are never increased above the starting rates setting. FIXED does not adjust the rates. Rates are not changed when tuning in ANGLE mode.

Default	Min	Max
AUTO

---

fw_d_level

Fixed-wing attitude stabilisation HORIZON transition point

Default	Min	Max
75	0	255

---

fw_d_pitch

Fixed wing rate stabilisation D-gain for PITCH

Default	Min	Max
0	0	255

---

fw_d_roll

Fixed wing rate stabilisation D-gain for ROLL

Default	Min	Max
0	0	255

---

fw_d_yaw

Fixed wing rate stabilisation D-gain for YAW

Default	Min	Max
0	0	255

---

fw_ff_pitch

Fixed-wing rate stabilisation FF-gain for PITCH

Default	Min	Max
50	0	255

---

fw_ff_roll

Fixed-wing rate stabilisation FF-gain for ROLL

Default	Min	Max
50	0	255

---

fw_ff_yaw

Fixed-wing rate stabilisation FF-gain for YAW

Default	Min	Max
60	0	255

---

fw_i_level

Fixed-wing attitude stabilisation low-pass filter cutoff

Default	Min	Max
5	0	255

---

fw_i_pitch

Fixed-wing rate stabilisation I-gain for PITCH

Default	Min	Max
7	0	255

---

fw_i_roll

Fixed-wing rate stabilisation I-gain for ROLL

Default	Min	Max
7	0	255

---

fw_i_yaw

Fixed-wing rate stabilisation I-gain for YAW

Default	Min	Max
10	0	255

---

fw_iterm_limit_stick_position

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

Default	Min	Max
0.5	0	1

---

fw_iterm_throw_limit

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.

Default	Min	Max
165	FW_ITERM_THROW_LIMIT_MIN	FW_ITERM_THROW_LIMIT_MAX

---

fw_level_pitch_gain

I-gain for the pitch trim for self-leveling flight modes. Higher values means that AUTOTRIM will be faster but might introduce oscillations

Default	Min	Max
5	0	20

---

fw_level_pitch_trim

Pitch trim for self-leveling flight modes. In degrees. +5 means airplane nose should be raised 5 deg from level

Default	Min	Max
0	-10	10

---

fw_loiter_direction

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.

Default	Min	Max
RIGHT

---

fw_min_throttle_down_pitch

Automatic pitch down angle when throttle is at 0 in angle mode. Progressively applied between cruise throttle and zero throttle (decidegrees)

Default	Min	Max
0	0	450

---

fw_p_level

Fixed-wing attitude stabilisation P-gain

Default	Min	Max
20	0	255

---

fw_p_pitch

Fixed-wing rate stabilisation P-gain for PITCH

Default	Min	Max
5	0	255

---

fw_p_roll

Fixed-wing rate stabilisation P-gain for ROLL

Default	Min	Max
5	0	255

---

fw_p_yaw

Fixed-wing rate stabilisation P-gain for YAW

Default	Min	Max
6	0	255

---

fw_reference_airspeed

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.

Default	Min	Max
1500	300	6000

---

fw_tpa_time_constant

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

Default	Min	Max
0	0	5000

---

fw_turn_assist_pitch_gain

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

Default	Min	Max
1	0	2

---

fw_turn_assist_yaw_gain

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

Default	Min	Max
1	0	2

---

fw_yaw_iterm_freeze_bank_angle

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.

Default	Min	Max
0	0	90

---

gps_auto_baud

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

Default	Min	Max
ON	OFF	ON

---

gps_auto_config

Enable automatic configuration of UBlox GPS receivers.

Default	Min	Max
ON	OFF	ON

---

gps_dyn_model

GPS navigation model: Pedestrian, Air_1g, Air_4g. Default is AIR_1G. Use pedestrian with caution, can cause flyaways with fast flying.

Default	Min	Max
AIR_1G

---

gps_min_sats

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.

Default	Min	Max
6	5	10

---

gps_provider

Which GPS protocol to be used, note that UBLOX is 5Hz and UBLOX7 is 10Hz (M8N).

Default	Min	Max
UBLOX

---

gps_sbas_mode

Which SBAS mode to be used

Default	Min	Max
NONE

---

gps_ublox_use_galileo

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].

Default	Min	Max
OFF	OFF	ON

---

ground_test_mode

For developer ground test use. Disables motors, sets heading status = Trusted on FW.

Default	Min	Max
OFF	OFF	ON

---

gyro_anti_aliasing_lpf_hz

Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz

Default	Min	Max
250		1000

---

gyro_anti_aliasing_lpf_type

Specifies the type of the software LPF of the gyro signals.

Default	Min	Max
PT1

---

gyro_dyn_lpf_curve_expo

Expo value for the throttle-to-frequency mapping for Dynamic LPF

Default	Min	Max
5	1	10

---

gyro_dyn_lpf_max_hz

Maximum frequency of the gyro Dynamic LPF

Default	Min	Max
500	40	1000

---

gyro_dyn_lpf_min_hz

Minimum frequency of the gyro Dynamic LPF

Default	Min	Max
200	40	400

---

gyro_hardware_lpf

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.

Default	Min	Max
256HZ

---

gyro_main_lpf_hz

Software based gyro main lowpass filter. Value is cutoff frequency (Hz)

Default	Min	Max
60	0	500

---

gyro_main_lpf_type

Defines the type of the main gyro LPF filter. Possible values: PT1, BIQUAD. PT1 offers faster filter response while BIQUAD better attenuation.

Default	Min	Max
BIQUAD

---

gyro_to_use

// TODO

Default	Min	Max
0	0	2

---

gyro_use_dyn_lpf

Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position.

Default	Min	Max
OFF	OFF	ON

---

gyro_zero_x

Calculated gyro zero calibration of axis X

Default	Min	Max
0	-32768	32767

---

gyro_zero_y

Calculated gyro zero calibration of axis Y

Default	Min	Max
0	-32768	32767

---

gyro_zero_z

Calculated gyro zero calibration of axis Z

Default	Min	Max
0	-32768	32767

---

has_flaps

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

Default	Min	Max
OFF	OFF	ON

---

heading_hold_rate_limit

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.

Default	Min	Max
90	HEADING_HOLD_RATE_LIMIT_MIN	HEADING_HOLD_RATE_LIMIT_MAX

---

hott_alarm_sound_interval

Battery alarm delay in seconds for Hott telemetry

Default	Min	Max
5	0	120

---

i2c_speed

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)

Default	Min	Max
400KHZ

---

ibus_telemetry_type

Type compatibility ibus telemetry for transmitters. See Telemetry.md label IBUS for details.

Default	Min	Max
0	0	255

---

idle_power

Power draw at zero throttle used for remaining flight time/distance estimation in 0.01W unit

Default	Min	Max
0	0	65535

---

imu2_align_pitch

Pitch alignment for Secondary IMU. 1/10 of a degree

Default	Min	Max
0	-1800	3600

---

imu2_align_roll

Roll alignment for Secondary IMU. 1/10 of a degree

Default	Min	Max
0	-1800	3600

---

imu2_align_yaw

Yaw alignment for Secondary IMU. 1/10 of a degree

Default	Min	Max
0	-1800	3600

---

imu2_gain_acc_x

Secondary IMU ACC calibration data

Default	Min	Max
0	-32768	32767

---

imu2_gain_acc_y

Secondary IMU ACC calibration data

Default	Min	Max
0	-32768	32767

---

imu2_gain_acc_z

Secondary IMU ACC calibration data

Default	Min	Max
0	-32768	32767

---

imu2_gain_mag_x

Secondary IMU MAG calibration data

Default	Min	Max
0	-32768	32767

---

imu2_gain_mag_y

Secondary IMU MAG calibration data

Default	Min	Max
0	-32768	32767

---

imu2_gain_mag_z

Secondary IMU MAG calibration data

Default	Min	Max
0	-32768	32767

---

imu2_hardware

Selection of a Secondary IMU hardware type. NONE disables this functionality

Default	Min	Max
NONE

---

imu2_radius_acc

Secondary IMU MAG calibration data

Default	Min	Max
0	-32768	32767

---

imu2_radius_mag

Secondary IMU MAG calibration data

Default	Min	Max
0	-32768	32767

---

imu2_use_for_osd_ahi

If set to ON, Secondary IMU data will be used for Analog OSD Artificial Horizon

Default	Min	Max
OFF	OFF	ON

---

imu2_use_for_osd_heading

If set to ON, Secondary IMU data will be used for Analog OSD heading

Default	Min	Max
OFF	OFF	ON

---

imu2_use_for_stabilized

If set to ON, Secondary IMU data will be used for Angle, Horizon and all other modes that control attitude (PosHold, WP, RTH)

Default	Min	Max
OFF	OFF	ON

---

imu_acc_ignore_rate

Total gyro rotation rate threshold [deg/s] to consider accelerometer trustworthy on airplanes

Default	Min	Max
0	0	20

---

imu_acc_ignore_slope

Half-width of the interval to gradually reduce accelerometer weight. Centered at imu_acc_ignore_rate (exactly 50% weight)

Default	Min	Max
0	0	5

---

imu_dcm_ki

Inertial Measurement Unit KI Gain for accelerometer measurements

Default	Min	Max
50		65535

---

imu_dcm_ki_mag

Inertial Measurement Unit KI Gain for compass measurements

Default	Min	Max
0		65535

---

imu_dcm_kp

Inertial Measurement Unit KP Gain for accelerometer measurements

Default	Min	Max
1000		65535

---

imu_dcm_kp_mag

Inertial Measurement Unit KP Gain for compass measurements

Default	Min	Max
5000		65535

---

inav_allow_dead_reckoning

Defines if inav will dead-reckon over short GPS outages. May also be useful for indoors OPFLOW navigation

Default	Min	Max
OFF	OFF	ON

---

inav_auto_mag_decl

Automatic setting of magnetic declination based on GPS position. When used manual magnetic declination is ignored.

Default	Min	Max
ON	OFF	ON

---

inav_baro_epv

Uncertainty value for barometric sensor [cm]

Default	Min	Max
100	0	9999

---

inav_gravity_cal_tolerance

Unarmed gravity calibration tolerance level. Won't finish the calibration until estimated gravity error falls below this value.

Default	Min	Max
5	0	255

---

inav_max_eph_epv

Maximum uncertainty value until estimated position is considered valid and is used for navigation [cm]

Default	Min	Max
1000	0	9999

---

inav_max_surface_altitude

Max allowed altitude for surface following mode. [cm]

Default	Min	Max
200	0	1000

---

inav_reset_altitude

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)

Default	Min	Max
FIRST_ARM

---

inav_reset_home

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

Default	Min	Max
FIRST_ARM

---

inav_use_gps_no_baro

// TODO

Default	Min	Max
OFF	OFF	ON

---

inav_use_gps_velned

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.

Default	Min	Max
ON	OFF	ON

---

inav_w_acc_bias

Weight for accelerometer drift estimation

Default	Min	Max
0.01	0	1

---

inav_w_xy_flow_p

// TODO

Default	Min	Max
1.0	0	100

---

inav_w_xy_flow_v

// TODO

Default	Min	Max
2.0	0	100

---

inav_w_xy_gps_p

Weight of GPS coordinates in estimated UAV position and speed.

Default	Min	Max
1.0	0	10

---

inav_w_xy_gps_v

Weight of GPS velocity data in estimated UAV speed

Default	Min	Max
2.0	0	10

---

inav_w_xy_res_v

Decay coefficient for estimated velocity when GPS reference for position is lost

Default	Min	Max
0.5	0	10

---

inav_w_xyz_acc_p

// TODO

Default	Min	Max
1.0	0	1

---

inav_w_z_baro_p

Weight of barometer measurements in estimated altitude and climb rate

Default	Min	Max
0.35	0	10

---

inav_w_z_gps_p

Weight of GPS altitude measurements in estimated altitude. Setting is used only of airplanes

Default	Min	Max
0.2	0	10

---

inav_w_z_gps_v

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

Default	Min	Max
0.1	0	10

---

inav_w_z_res_v

Decay coefficient for estimated climb rate when baro/GPS reference for altitude is lost

Default	Min	Max
0.5	0	10

---

inav_w_z_surface_p

// TODO

Default	Min	Max
3.5	0	100

---

inav_w_z_surface_v

// TODO

Default	Min	Max
6.1	0	100

---

init_gyro_cal

If defined to 'OFF', it will ignore the gyroscope calibration done at each startup. Instead, the gyroscope last calibration from when you calibrated will be used. It also means you don't have to keep the UAV stationary during a startup.

Default	Min	Max
ON	OFF	ON

---

ins_gravity_cmss

Calculated 1G of Acc axis Z to use in INS

Default	Min	Max
0.0	0	2000

---

iterm_windup

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)

Default	Min	Max
50	0	90

---

ledstrip_visual_beeper

// TODO

Default	Min	Max
OFF	OFF	ON

---

limit_attn_filter_cutoff

Throttle attenuation PI control output filter cutoff frequency

Default	Min	Max
1.2		100

---

limit_burst_current

Burst current limit (dA): the current which is allowed during limit_burst_current_time after which limit_cont_current will be enforced, set to 0 to disable

Default	Min	Max
0		4000

---

limit_burst_current_falldown_time

Time slice at the end of the burst time during which the current limit will be ramped down from limit_burst_current back down to limit_cont_current

Default	Min	Max
0		3000

---

limit_burst_current_time

Allowed current burst time (ds) during which limit_burst_current is allowed and after which limit_cont_current will be enforced

Default	Min	Max
0		3000

---

limit_burst_power

Burst power limit (dW): the current which is allowed during limit_burst_power_time after which limit_cont_power will be enforced, set to 0 to disable

Default	Min	Max
0		40000

---

limit_burst_power_falldown_time

Time slice at the end of the burst time during which the power limit will be ramped down from limit_burst_power back down to limit_cont_power

Default	Min	Max
0		3000

---

limit_burst_power_time

Allowed power burst time (ds) during which limit_burst_power is allowed and after which limit_cont_power will be enforced

Default	Min	Max
0		3000

---

limit_cont_current

Continous current limit (dA), set to 0 to disable

Default	Min	Max
0		4000

---

limit_cont_power

Continous power limit (dW), set to 0 to disable

Default	Min	Max
0		40000

---

limit_pi_i

Throttle attenuation PI control I term

Default	Min	Max
100		10000

---

limit_pi_p

Throttle attenuation PI control P term

Default	Min	Max
100		10000

---

log_level

Defines serial debugging log level. See docs/development/serial_printf_debugging.md for usage.

Default	Min	Max
ERROR

---

log_topics

Defines serial debugging log topic. See docs/development/serial_printf_debugging.md for usage.

Default	Min	Max
0	0	4294967295

---

looptime

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.

Default	Min	Max
1000		9000

---

ltm_update_rate

Defines the LTM update rate (use of bandwidth [NORMAL/MEDIUM/SLOW]). See Telemetry.md, LTM section for details.

Default	Min	Max
NORMAL

---

mag_calibration_time

Adjust how long time the Calibration of mag will last.

Default	Min	Max
30	20	120

---

mag_declination

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.

Default	Min	Max
0	-18000	18000

---

mag_hardware

Selection of mag hardware. See Wiki Sensor auto detect and hardware failure detection for more info

Default	Min	Max
AUTO

---

mag_to_use

Allow to chose between built-in and external compass sensor if they are connected to separate buses. Currently only for REVO target

Default	Min	Max
0	0	1

---

maggain_x

Magnetometer calibration X gain. If 1024, no calibration or calibration failed

Default	Min	Max
1024	-32768	32767

---

maggain_y

Magnetometer calibration Y gain. If 1024, no calibration or calibration failed

Default	Min	Max
1024	-32768	32767

---

maggain_z

Magnetometer calibration Z gain. If 1024, no calibration or calibration failed

Default	Min	Max
1024	-32768	32767

---

magzero_x

Magnetometer calibration X offset. If its 0 none offset has been applied and calibration is failed.

Default	Min	Max
0	-32768	32767

---

magzero_y

Magnetometer calibration Y offset. If its 0 none offset has been applied and calibration is failed.

Default	Min	Max
0	-32768	32767

---

magzero_z

Magnetometer calibration Z offset. If its 0 none offset has been applied and calibration is failed.

Default	Min	Max
0	-32768	32767

---

manual_pitch_rate

Servo travel multiplier for the PITCH axis in MANUAL flight mode [0-100]%

Default	Min	Max
100	0	100

---

manual_rc_expo

Exposition value used for the PITCH/ROLL axes by the MANUAL flight mode [0-100]

Default	Min	Max
35	0	100

---

manual_rc_yaw_expo

Exposition value used for the YAW axis by the MANUAL flight mode [0-100]

Default	Min	Max
20	0	100

---

manual_roll_rate

Servo travel multiplier for the ROLL axis in MANUAL flight mode [0-100]%

Default	Min	Max
100	0	100

---

manual_yaw_rate

Servo travel multiplier for the YAW axis in MANUAL flight mode [0-100]%

Default	Min	Max
100	0	100

---

mavlink_ext_status_rate

// TODO

Default	Min	Max
2	0	255

---

mavlink_extra1_rate

// TODO

Default	Min	Max
10	0	255

---

mavlink_extra2_rate

// TODO

Default	Min	Max
2	0	255

---

mavlink_extra3_rate

// TODO

Default	Min	Max
1	0	255

---

mavlink_pos_rate

// TODO

Default	Min	Max
2	0	255

---

mavlink_rc_chan_rate

// TODO

Default	Min	Max
5	0	255

---

mavlink_version

Version of MAVLink to use

Default	Min	Max
2	1	2

---

max_angle_inclination_pit

Maximum inclination in level (angle) mode (PITCH axis). 100=10°

Default	Min	Max
300	100	900

---

max_angle_inclination_rll

Maximum inclination in level (angle) mode (ROLL axis). 100=10°

Default	Min	Max
300	100	900

---

max_check

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.

Default	Min	Max
1900	PWM_RANGE_MIN	PWM_RANGE_MAX

---

max_throttle

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.

Default	Min	Max
1850	PWM_RANGE_MIN	PWM_RANGE_MAX

---

mc_cd_lpf_hz

Cutoff frequency for Control Derivative. Lower value smoother reaction on fast stick movements. With higher values, response will be more aggressive, jerky

Default	Min	Max
30	0	200

---

mc_cd_pitch

Multicopter Control Derivative gain for PITCH

Default	Min	Max
60	0	255

---

mc_cd_roll

Multicopter Control Derivative gain for ROLL

Default	Min	Max
60	0	255

---

mc_cd_yaw

Multicopter Control Derivative gain for YAW

Default	Min	Max
60	0	255

---

mc_d_level

Multicopter attitude stabilisation HORIZON transition point

Default	Min	Max
75	0	255

---

mc_d_pitch

Multicopter rate stabilisation D-gain for PITCH

Default	Min	Max
23	0	255

---

mc_d_roll

Multicopter rate stabilisation D-gain for ROLL

Default	Min	Max
23	0	255

---

mc_d_yaw

Multicopter rate stabilisation D-gain for YAW

Default	Min	Max
0	0	255

---

mc_i_level

Multicopter attitude stabilisation low-pass filter cutoff

Default	Min	Max
15	0	255

---

mc_i_pitch

Multicopter rate stabilisation I-gain for PITCH

Default	Min	Max
30	0	255

---

mc_i_roll

Multicopter rate stabilisation I-gain for ROLL

Default	Min	Max
30	0	255

---

mc_i_yaw

Multicopter rate stabilisation I-gain for YAW

Default	Min	Max
45	0	255

---

mc_iterm_relax

// TODO

Default	Min	Max
RP

---

mc_iterm_relax_cutoff

// TODO

Default	Min	Max
15	1	100

---

mc_p_level

Multicopter attitude stabilisation P-gain

Default	Min	Max
20	0	255

---

mc_p_pitch

Multicopter rate stabilisation P-gain for PITCH

Default	Min	Max
40	0	255

---

mc_p_roll

Multicopter rate stabilisation P-gain for ROLL

Default	Min	Max
40	0	255

---

mc_p_yaw

Multicopter rate stabilisation P-gain for YAW

Default	Min	Max
85	0	255

---

min_check

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.

Default	Min	Max
1100	PWM_RANGE_MIN	PWM_RANGE_MAX

---

min_command

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.

Default	Min	Max
1000	0	PWM_RANGE_MAX

---

mode_range_logic_operator

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	Min	Max
OR

---

model_preview_type

ID of mixer preset applied in a Configurator. Do not modify manually. Used only for backup/restore reasons.

Default	Min	Max
-1	-1	32767

---

moron_threshold

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.

Default	Min	Max
32		128

---

motor_direction_inverted

Use if you need to inverse yaw motor direction.

Default	Min	Max
OFF	OFF	ON

---

motor_poles

The number of motor poles. Required to compute motor RPM

Default	Min	Max
14	4	255

---

motor_pwm_protocol

Protocol that is used to send motor updates to ESCs. Possible values - STANDARD, ONESHOT125, ONESHOT42, MULTISHOT, DSHOT150, DSHOT300, DSHOT600, DSHOT1200, BRUSHED

Default	Min	Max
ONESHOT125

---

motor_pwm_rate

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.

Default	Min	Max
400	50	32000

---

msp_override_channels

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.

Default	Min	Max
0	0	65535

---

name

Craft name

Default	Min	Max
empty		MAX_NAME_LENGTH

---

nav_auto_climb_rate

Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s]

Default	Min	Max
500	10	2000

---

nav_auto_speed

Speed in fully autonomous modes (RTH, WP) [cm/s]. Used for WP mode when no specific WP speed set. [Multirotor only]

Default	Min	Max
300	10	2000

---

nav_disarm_on_landing

If set to ON, iNav disarms the FC after landing

Default	Min	Max
OFF	OFF	ON

---

nav_emerg_landing_speed

Rate of descent UAV will try to maintain when doing emergency descent sequence [cm/s]

Default	Min	Max
500	100	2000

---

nav_extra_arming_safety

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

Default	Min	Max
ON

---

nav_fw_allow_manual_thr_increase

Enable the possibility to manually increase the throttle in auto throttle controlled modes for fixed wing

Default	Min	Max
OFF	OFF	ON

---

nav_fw_auto_disarm_delay

Delay before plane disarms when nav_disarm_on_landing is set (ms)

Default	Min	Max
2000	100	10000

---

nav_fw_bank_angle

Max roll angle when rolling / turning in GPS assisted modes, is also restrained by global max_angle_inclination_rll

Default	Min	Max
35	5	80

---

nav_fw_climb_angle

Max pitch angle when climbing in GPS assisted modes, is also restrained by global max_angle_inclination_pit

Default	Min	Max
20	5	80

---

nav_fw_control_smoothness

How smoothly the autopilot controls the airplane to correct the navigation error

Default	Min	Max
0	0	9

---

nav_fw_cruise_speed

Speed for the plane/wing at cruise throttle used for remaining flight time/distance estimation in cm/s

Default	Min	Max
0	0	65535

---

nav_fw_cruise_thr

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 )

Default	Min	Max
1400	1000	2000

---

nav_fw_cruise_yaw_rate

Max YAW rate when NAV CRUISE mode is enabled (0=disable control via yaw stick) [dps]

Default	Min	Max
20	0	60

---

nav_fw_dive_angle

Max negative pitch angle when diving in GPS assisted modes, is also restrained by global max_angle_inclination_pit

Default	Min	Max
15	5	80

---

nav_fw_heading_p

P gain of Heading Hold controller (Fixedwing)

Default	Min	Max
60	0	255

---

nav_fw_land_dive_angle

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

Default	Min	Max
2	-20	20

---

nav_fw_launch_accel

Forward acceleration threshold for bungee launch of throw launch [cm/s/s], 1G = 981 cm/s/s

Default	Min	Max
1863	1000	20000

---

nav_fw_launch_climb_angle

Climb angle (attitude of model, not climb slope) for launch sequence (degrees), is also restrained by global max_angle_inclination_pit

Default	Min	Max
18	5	45

---

nav_fw_launch_detect_time

Time for which thresholds have to breached to consider launch happened [ms]

Default	Min	Max
40	10	1000

---

nav_fw_launch_end_time

Time for the transition of throttle and pitch angle, between the launch state and the subsequent flight mode [ms]

Default	Min	Max
3000	0	5000

---

nav_fw_launch_idle_motor_delay

Delay between raising throttle and motor starting at idle throttle (ms)

Default	Min	Max
0	0	60000

---

nav_fw_launch_idle_thr

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)

Default	Min	Max
1000	1000	2000

---

nav_fw_launch_max_altitude

Altitude (centimeters) at which LAUNCH mode will be turned off and regular flight mode will take over [0-60000].

Default	Min	Max
0	0	60000

---

nav_fw_launch_max_angle

Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg]

Default	Min	Max
45	5	180

---

nav_fw_launch_min_time

Allow launch mode to execute at least this time (ms) and ignore stick movements [0-60000].

Default	Min	Max
0	0	60000

---

nav_fw_launch_motor_delay

Delay between detected launch and launch sequence start and throttling up (ms)

Default	Min	Max
500	0	5000

---

nav_fw_launch_spinup_time

Time to bring power from minimum throttle to nav_fw_launch_thr - to avoid big stress on ESC and large torque from propeller

Default	Min	Max
100	0	1000

---

nav_fw_launch_thr

Launch throttle - throttle to be set during launch sequence (pwm units)

Default	Min	Max
1700	1000	2000

---

nav_fw_launch_timeout

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)

Default	Min	Max
5000		60000

---

nav_fw_launch_velocity

Forward velocity threshold for swing-launch detection [cm/s]

Default	Min	Max
300	100	10000

---

nav_fw_loiter_radius

PosHold radius. 3000 to 7500 is a good value (30-75m) [cm]

Default	Min	Max
7500	0	30000

---

nav_fw_max_thr

Maximum throttle for flying wing in GPS assisted modes

Default	Min	Max
1700	1000	2000

---

nav_fw_min_thr

Minimum throttle for flying wing in GPS assisted modes

Default	Min	Max
1200	1000	2000

---

nav_fw_pitch2thr

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)

Default	Min	Max
10	0	100

---

nav_fw_pitch2thr_smoothing

How smoothly the autopilot makes pitch to throttle correction inside a deadband defined by pitch_to_throttle_thresh.

Default	Min	Max
6	0	9

---

nav_fw_pitch2thr_threshold

Threshold from average pitch where momentary pitch_to_throttle correction kicks in. [decidegrees]

Default	Min	Max
50	0	900

---

nav_fw_pos_hdg_d

D gain of heading trajectory PID controller. (Fixedwing, rovers, boats)

Default	Min	Max
0	0	255

---

nav_fw_pos_hdg_i

I gain of heading trajectory PID controller. (Fixedwing, rovers, boats)

Default	Min	Max
2	0	255

---

nav_fw_pos_hdg_p

P gain of heading PID controller. (Fixedwing, rovers, boats)

Default	Min	Max
30	0	255

---

nav_fw_pos_hdg_pidsum_limit

Output limit for heading trajectory PID controller. (Fixedwing, rovers, boats)

Default	Min	Max
350	PID_SUM_LIMIT_MIN	PID_SUM_LIMIT_MAX

---

nav_fw_pos_xy_d

D gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero

Default	Min	Max
8	0	255

---

nav_fw_pos_xy_i

I gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero

Default	Min	Max
5	0	255

---

nav_fw_pos_xy_p

P gain of 2D trajectory PID controller. Play with this to get a straight line between waypoints or a straight RTH

Default	Min	Max
75	0	255

---

nav_fw_pos_z_d

D gain of altitude PID controller (Fixedwing)

Default	Min	Max
10	0	255

---

nav_fw_pos_z_i

I gain of altitude PID controller (Fixedwing)

Default	Min	Max
5	0	255

---

nav_fw_pos_z_p

P gain of altitude PID controller (Fixedwing)

Default	Min	Max
40	0	255

---

nav_fw_soaring_motor_stop

Stops motor when Soaring mode enabled.

Default	Min	Max
OFF	OFF	ON

---

nav_fw_soaring_pitch_deadband

Pitch Angle deadband when soaring mode enabled (deg). Angle mode inactive within deadband allowing pitch to free float whilst soaring.

Default	Min	Max
5	0	15

---

nav_fw_yaw_deadband

Deadband for heading trajectory PID controller. When heading error is below the deadband, controller assumes that vehicle is on course

Default	Min	Max
0	0	90

---

nav_land_maxalt_vspd

Vertical descent velocity above nav_land_slowdown_maxalt during the RTH landing phase. [cm/s]

Default	Min	Max
200	100	2000

---

nav_land_minalt_vspd

Vertical descent velocity under nav_land_slowdown_minalt during the RTH landing phase. [cm/s]

Default	Min	Max
50	50	500

---

nav_land_slowdown_maxalt

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]

Default	Min	Max
2000	500	4000

---

nav_land_slowdown_minalt

Defines at what altitude the descent velocity should start to be nav_land_minalt_vspd [cm]

Default	Min	Max
500	50	1000

---

nav_manual_climb_rate

Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]

Default	Min	Max
200	10	2000

---

nav_manual_speed

Maximum speed allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]

Default	Min	Max
500	10	2000

---

nav_max_altitude

Max allowed altitude (above Home Point) that applies to all NAV modes (including Altitude Hold). 0 means limit is disabled

Default	Min	Max
0	0	65000

---

nav_max_auto_speed

Maximum speed allowed in fully autonomous modes (RTH, WP) [cm/s] [Multirotor only]

Default	Min	Max
1000	10	2000

---

nav_max_terrain_follow_alt

Max allowed above the ground altitude for terrain following mode

Default	Min	Max
100		1000

---

nav_mc_auto_disarm_delay

Delay before multi-rotor disarms when nav_disarm_on_landing is set (ms)

Default	Min	Max
2000	100	10000

---

nav_mc_bank_angle

Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude

Default	Min	Max
30	15	45

---

nav_mc_braking_bank_angle

max angle that MR is allowed to bank in BOOST mode

Default	Min	Max
40	15	60

---

nav_mc_braking_boost_disengage_speed

BOOST will be disabled when speed goes below this value

Default	Min	Max
100	0	1000

---

nav_mc_braking_boost_factor

acceleration factor for BOOST phase

Default	Min	Max
100	0	200

---

nav_mc_braking_boost_speed_threshold

BOOST can be enabled when speed is above this value

Default	Min	Max
150	100	1000

---

nav_mc_braking_boost_timeout

how long in ms BOOST phase can happen

Default	Min	Max
750	0	5000

---

nav_mc_braking_disengage_speed

braking is disabled when speed goes below this value

Default	Min	Max
75	0	1000

---

nav_mc_braking_speed_threshold

min speed in cm/s above which braking can happen

Default	Min	Max
100	0	1000

---

nav_mc_braking_timeout

timeout in ms for braking

Default	Min	Max
2000	100	5000

---

nav_mc_heading_p

P gain of Heading Hold controller (Multirotor)

Default	Min	Max
60	0	255

---

nav_mc_hover_thr

Multicopter hover throttle hint for altitude controller. Should be set to approximate throttle value when drone is hovering.

Default	Min	Max
1500	1000	2000

---

nav_mc_pos_deceleration_time

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

Default	Min	Max
120	0	255

---

nav_mc_pos_expo

Expo for PosHold control

Default	Min	Max
10	0	255

---

nav_mc_pos_xy_p

Controls how fast the drone will fly towards the target position. This is a multiplier to convert displacement to target velocity

Default	Min	Max
65	0	255

---

nav_mc_pos_z_p

P gain of altitude PID controller (Multirotor)

Default	Min	Max
50	0	255

---

nav_mc_vel_xy_d

D gain of Position-Rate (Velocity to Acceleration) PID controller. It can damp P and I. Increasing D might help when drone overshoots target.

Default	Min	Max
100	0	255

---

nav_mc_vel_xy_dterm_attenuation

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.

Default	Min	Max
90	0	100

---

nav_mc_vel_xy_dterm_attenuation_end

A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation reaches maximum

Default	Min	Max
60	0	100

---

nav_mc_vel_xy_dterm_attenuation_start

A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation begins

Default	Min	Max
10	0	100

---

nav_mc_vel_xy_dterm_lpf_hz

// TODO

Default	Min	Max
2	0	100

---

nav_mc_vel_xy_ff

// TODO

Default	Min	Max
40	0	255

---

nav_mc_vel_xy_i

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

Default	Min	Max
15	0	255

---

nav_mc_vel_xy_p

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

Default	Min	Max
40	0	255

---

nav_mc_vel_z_d

D gain of velocity PID controller

Default	Min	Max
10	0	255

---

nav_mc_vel_z_i

I gain of velocity PID controller

Default	Min	Max
50	0	255

---

nav_mc_vel_z_p

P gain of velocity PID controller

Default	Min	Max
100	0	255

---

nav_mc_wp_slowdown

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.

Default	Min	Max
ON	OFF	ON

---

nav_min_rth_distance

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.

Default	Min	Max
500	0	5000

---

nav_mission_planner_reset

With Reset ON WP Mission Planner waypoint count can be reset to 0 by toggling the mode switch ON-OFF-ON.

Default	Min	Max
ON	OFF	ON

---

nav_overrides_motor_stop

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

Default	Min	Max
ALL_NAV

---

nav_position_timeout

If GPS fails wait for this much seconds before switching to emergency landing mode (0 - disable)

Default	Min	Max
5	0	10

---

nav_rth_abort_threshold

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. Set to 0 to disable. [cm]

Default	Min	Max
50000	0	65000

---

nav_rth_allow_landing

If set to ON drone will land as a last phase of RTH.

Default	Min	Max
ALWAYS

---

nav_rth_alt_control_override

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)

Default	Min	Max
OFF	OFF	ON

---

nav_rth_alt_mode

Configure how the aircraft will manage altitude on the way home, see Navigation modes on wiki for more details

Default	Min	Max
AT_LEAST

---

nav_rth_altitude

Used in EXTRA, FIXED and AT_LEAST rth alt modes [cm] (Default 1000 means 10 meters)

Default	Min	Max
1000		65000

---

nav_rth_climb_first

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)

Default	Min	Max
ON

---

nav_rth_climb_first_stage_altitude

The altitude [cm] at which climb first will transition to turn first. How the altitude is used, is determined by nav_rth_climb_first_stage_mode. Default=0; feature disabled.

Default	Min	Max
0		65000

---

nav_rth_climb_first_stage_mode

This determines how rth_climb_first_stage_altitude is used. Default is AT_LEAST.

Default	Min	Max
AT_LEAST

---

nav_rth_climb_ignore_emerg

If set to ON, aircraft will execute initial climb regardless of position sensor (GPS) status.

Default	Min	Max
OFF	OFF	ON

---

nav_rth_home_altitude

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]

Default	Min	Max
0		65000

---

nav_rth_tail_first

If set to ON drone will return tail-first. Obviously meaningless for airplanes.

Default	Min	Max
OFF	OFF	ON

---

nav_use_fw_yaw_control

Enables or Disables the use of the heading PID controller on fixed wing. Heading PID controller is always enabled for rovers and boats

Default	Min	Max
OFF	OFF	ON

---

nav_use_midthr_for_althold

If set to OFF, the FC remembers your throttle stick position when enabling ALTHOLD and treats it as a neutral midpoint for holding altitude

Default	Min	Max
OFF	OFF	ON

---

nav_user_control_mode

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.

Default	Min	Max
ATTI

---

nav_wp_enforce_altitude

Forces craft to achieve the set WP altitude as well as position before moving to next WP. Position is held and altitude adjusted as required before moving on.

Default	Min	Max
OFF	OFF	ON

---

nav_wp_load_on_boot

If set to ON, waypoints will be automatically loaded from EEPROM to the FC during startup.

Default	Min	Max
OFF	OFF	ON

---

nav_wp_mission_restart

Sets restart behaviour for a WP mission when interrupted mid mission. START from first WP, RESUME from last active WP or SWITCH between START and RESUME each time WP Mode is reselected ON. SWITCH effectively allows resuming once only from a previous mid mission waypoint after which the mission will restart from the first waypoint.

Default	Min	Max
RESUME

---

nav_wp_multi_mission_index

Index of mission selected from multi mission WP entry loaded in flight controller. 1 is the first useable WP mission in the entry. Limited to a maximum of 9 missions. Set index to 0 to display current active WP count in OSD Mission field.

Default	Min	Max
1	0	9

---

nav_wp_radius

Waypoint radius [cm]. Waypoint would be considered reached if machine is within this radius

Default	Min	Max
100	10	10000

---

nav_wp_safe_distance

First waypoint in the mission should be closer than this value [cm]. A value of 0 disables this check.

Default	Min	Max
10000		65000

---

opflow_hardware

Selection of OPFLOW hardware.

Default	Min	Max
NONE

---

opflow_scale

// TODO

Default	Min	Max
10.5	0	10000

---

osd_ahi_bordered

Shows a border/corners around the AHI region (pixel OSD only)

Default	Min	Max
OFF	OFF	ON

---

osd_ahi_camera_uptilt_comp

When set to ON, the AHI position is adjusted by osd_camera_uptilt. For example, with a cammera uptilt of 30 degrees, the AHI will appear in the middle of the OSD when the aircraft is pitched forward 30 degrees. When set to OFF, the AHI will appear in the center of the OSD regardless of camera angle, but can still be shifted up and down using osd_horizon_offset (osd_ahi_vertical_offset for pixel-OSD).

Default	Min	Max
OFF	OFF	ON

---

osd_ahi_height

AHI height in pixels (pixel OSD only)

Default	Min	Max
162		255

---

osd_ahi_max_pitch

Max pitch, in degrees, for OSD artificial horizon

Default	Min	Max
20	10	90

---

osd_ahi_reverse_roll

// TODO

Default	Min	Max
OFF	OFF	ON

---

osd_ahi_style

Sets OSD Artificial Horizon style "DEFAULT" or "LINE" for the FrSky Graphical OSD.

Default	Min	Max
DEFAULT

---

osd_ahi_vertical_offset

AHI vertical offset from center (pixel OSD only)

Default	Min	Max
-18	-128	127

---

osd_ahi_width

AHI width in pixels (pixel OSD only)

Default	Min	Max
132		255

---

osd_airspeed_alarm_max

Airspeed above which the airspeed OSD element will start blinking (cm/s)

Default	Min	Max
0	0	27000

---

osd_airspeed_alarm_min

Airspeed under which the airspeed OSD element will start blinking (cm/s)

Default	Min	Max
0	0	27000

---

osd_alt_alarm

Value above which to make the OSD relative altitude indicator blink (meters)

Default	Min	Max
100	0	10000

---

osd_baro_temp_alarm_max

Temperature above which the baro temperature OSD element will start blinking (decidegrees centigrade)

Default	Min	Max
600	-550	1250

---

osd_baro_temp_alarm_min

Temperature under which the baro temperature OSD element will start blinking (decidegrees centigrade)

Default	Min	Max
-200	-550	1250

---

osd_camera_fov_h

Horizontal field of view for the camera in degres

Default	Min	Max
135	60	150

---

osd_camera_fov_v

Vertical field of view for the camera in degres

Default	Min	Max
85	30	120

---

osd_camera_uptilt

Set the camera uptilt for the FPV camera in degres, positive is up, negative is down, relative to the horizontal. Used for correct display of HUD items and AHI (when enabled).

Default	Min	Max
0	-40	80

---

osd_coordinate_digits

// TODO

Default	Min	Max
9	8	11

---

osd_crosshairs_style

To set the visual type for the crosshair

Default	Min	Max
DEFAULT

---

osd_crsf_lq_format

To select LQ format

Default	Min	Max
TYPE1

---

osd_current_alarm

Value above which the OSD current consumption element will start blinking. Measured in full Amperes.

Default	Min	Max
0	0	255

---

osd_dist_alarm

Value above which to make the OSD distance from home indicator blink (meters)

Default	Min	Max
1000	0	50000

---

osd_esc_rpm_precision

Number of characters used to display the RPM value.

Default	Min	Max
3	3	6

---

osd_esc_temp_alarm_max

Temperature above which the IMU temperature OSD element will start blinking (decidegrees centigrade)

Default	Min	Max
900	-550	1500

---

osd_esc_temp_alarm_min

Temperature under which the IMU temperature OSD element will start blinking (decidegrees centigrade)

Default	Min	Max
-200	-550	1500

---

osd_estimations_wind_compensation

Use wind estimation for remaining flight time/distance estimation

Default	Min	Max
ON	OFF	ON

---

osd_failsafe_switch_layout

If enabled the OSD automatically switches to the first layout during failsafe

Default	Min	Max
OFF	OFF	ON

---

osd_force_grid

Force OSD to work in grid mode even if the OSD device supports pixel level access (mainly used for development)

Default	Min	Max
OFF	OFF	ON

---

osd_gforce_alarm

Value above which the OSD g force indicator will blink (g)

Default	Min	Max
5	0	20

---

osd_gforce_axis_alarm_max

Value above which the OSD axis g force indicators will blink (g)

Default	Min	Max
5	-20	20

---

osd_gforce_axis_alarm_min

Value under which the OSD axis g force indicators will blink (g)

Default	Min	Max
-5	-20	20

---

osd_home_position_arm_screen

Should home position coordinates be displayed on the arming screen.

Default	Min	Max
ON	OFF	ON

---

osd_horizon_offset

To vertically adjust the whole OSD and AHI and scrolling bars

Default	Min	Max
0	-2	2

---

osd_hud_homepoint

To 3D-display the home point location in the hud

Default	Min	Max
OFF	OFF	ON

---

osd_hud_homing

To display little arrows around the crossair showing where the home point is in the hud

Default	Min	Max
OFF	OFF	ON

---

osd_hud_margin_h

Left and right margins for the hud area

Default	Min	Max
3	0	4

---

osd_hud_margin_v

Top and bottom margins for the hud area

Default	Min	Max
3	1	3

---

osd_hud_radar_disp

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

Default	Min	Max
0	0	4

---

osd_hud_radar_range_max

In meters, radar aircrafts further away than this will not be displayed in the hud

Default	Min	Max
4000	100	9990

---

osd_hud_radar_range_min

In meters, radar aircrafts closer than this will not be displayed in the hud

Default	Min	Max
3	1	30

---

osd_hud_wp_disp

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)

Default	Min	Max
0	0	3

---

osd_imu_temp_alarm_max

Temperature above which the IMU temperature OSD element will start blinking (decidegrees centigrade)

Default	Min	Max
600	-550	1250

---

osd_imu_temp_alarm_min

Temperature under which the IMU temperature OSD element will start blinking (decidegrees centigrade)

Default	Min	Max
-200	-550	1250

---

osd_left_sidebar_scroll

// TODO

Default	Min	Max
NONE

---

osd_left_sidebar_scroll_step

How many units each sidebar step represents. 0 means the default value for the scroll type.

Default	Min	Max
0		255

---

osd_link_quality_alarm

LQ % indicator blinks below this value. For Crossfire use 70%, for Tracer use 50%

Default	Min	Max
70	0	100

---

osd_mah_used_precision

Number of digits used to display mAh used.

Default	Min	Max
4	4	6

---

osd_main_voltage_decimals

Number of decimals for the battery voltages displayed in the OSD [1-2].

Default	Min	Max
1	1	2

---

osd_neg_alt_alarm

Value below which (negative altitude) to make the OSD relative altitude indicator blink (meters)

Default	Min	Max
5	0	10000

---

osd_pan_servo_index

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.

Default	Min	Max
0	0	10

---

osd_pan_servo_pwm2centideg

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.

Default	Min	Max
0	-36	36

---

osd_plus_code_digits

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.

Default	Min	Max
11	10	13

---

osd_plus_code_short

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.

Default	Min	Max
0

---

osd_right_sidebar_scroll

// TODO

Default	Min	Max
NONE

---

osd_right_sidebar_scroll_step

Same as left_sidebar_scroll_step, but for the right sidebar

Default	Min	Max
0		255

---

osd_row_shiftdown

Number of rows to shift the OSD display (increase if top rows are cut off)

Default	Min	Max
0	0	1

---

osd_rssi_alarm

Value below which to make the OSD RSSI indicator blink

Default	Min	Max
20	0	100

---

osd_rssi_dbm_alarm

RSSI dBm indicator blinks below this value [dBm]. 0 disables this alarm

Default	Min	Max
0	-130	0

---

osd_rssi_dbm_max

RSSI dBm upper end of curve. Perfect rssi (max) = 100%

Default	Min	Max
-30	-50	0

---

osd_rssi_dbm_min

RSSI dBm lower end of curve or RX sensitivity level. Worst rssi (min) = 0%

Default	Min	Max
-120	-130	0

---

osd_sidebar_height

Height of sidebars in rows. 0 leaves only the level indicator arrows (Not for pixel OSD)

Default	Min	Max
3	0	5

---

osd_sidebar_horizontal_offset

Sidebar horizontal offset from default position. Positive values move the sidebars closer to the edges.

Default	Min	Max
0	-128	127

---

osd_sidebar_scroll_arrows

// TODO

Default	Min	Max
OFF	OFF	ON

---

osd_snr_alarm

Value below which Crossfire SNR Alarm pops-up. (dB)

Default	Min	Max
4	-20	10

---

osd_speed_source

Sets the speed type displayed by the DJI OSD and OSD canvas (FrSky Pixel): GROUND, 3D, AIR

Default	Min	Max
GROUND

---

osd_stats_energy_unit

Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour)

Default	Min	Max
MAH

---

osd_stats_min_voltage_unit

Display minimum voltage of the BATTERY or the average per CELL in the OSD stats.

Default	Min	Max
BATTERY

---

osd_stats_page_auto_swap_time

Auto swap display time interval between disarm stats pages (seconds). Reverts to manual control when Roll stick used to change pages. Disabled when set to 0.

Default	Min	Max
3	0	10

---

osd_switch_indicator_one_channnel

RC Channel to use for OSD switch indicator 1.

Default	Min	Max
5	5	MAX_SUPPORTED_RC_CHANNEL_COUNT

---

osd_switch_indicator_one_name

Character to use for OSD switch incicator 1.

Default	Min	Max
GEAR		5

---

osd_switch_indicator_three_channnel

RC Channel to use for OSD switch indicator 3.

Default	Min	Max
5	5	MAX_SUPPORTED_RC_CHANNEL_COUNT

---

osd_switch_indicator_three_name

Character to use for OSD switch incicator 3.

Default	Min	Max
LIGT		5

---

osd_switch_indicator_two_channnel

RC Channel to use for OSD switch indicator 2.

Default	Min	Max
5	5	MAX_SUPPORTED_RC_CHANNEL_COUNT

---

osd_switch_indicator_two_name

Character to use for OSD switch incicator 2.

Default	Min	Max
CAM		5

---

osd_switch_indicator_zero_channnel

RC Channel to use for OSD switch indicator 0.

Default	Min	Max
5	5	MAX_SUPPORTED_RC_CHANNEL_COUNT

---

osd_switch_indicator_zero_name

Character to use for OSD switch incicator 0.

Default	Min	Max
FLAP		5

---

osd_switch_indicators_align_left

Align text to left of switch indicators

Default	Min	Max
ON	OFF	ON

---

osd_system_msg_display_time

System message display cycle time for multiple messages (milliseconds).

Default	Min	Max
1000	500	5000

---

osd_telemetry

To enable OSD telemetry for antenna tracker. Possible values are OFF, ON and TEST

Default	Min	Max
OFF

---

osd_temp_label_align

Allows to chose between left and right alignment for the OSD temperature sensor labels. Valid values are LEFT and RIGHT

Default	Min	Max
LEFT

---

osd_time_alarm

Value above which to make the OSD flight time indicator blink (minutes)

Default	Min	Max
10	0	600

---

osd_units

IMPERIAL, METRIC, UK

Default	Min	Max
METRIC

---

osd_video_system

Video system used. Possible values are AUTO, PAL, NTSC, and HD

Default	Min	Max
AUTO

---

output_mode

Output function assignment mode. AUTO assigns outputs according to the default mapping, SERVOS assigns all outputs to servos, MOTORS assigns all outputs to motors

Default	Min	Max
AUTO

---

pid_type

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

Default	Min	Max
AUTO

---

pidsum_limit

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

Default	Min	Max
500	PID_SUM_LIMIT_MIN	PID_SUM_LIMIT_MAX

---

pidsum_limit_yaw

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

Default	Min	Max
350	PID_SUM_LIMIT_MIN	PID_SUM_LIMIT_MAX

---

pinio_box1

Mode assignment for PINIO#1

Default	Min	Max
BOX_PERMANENT_ID_NONE	0	255

---

pinio_box2

Mode assignment for PINIO#1

Default	Min	Max
BOX_PERMANENT_ID_NONE	0	255

---

pinio_box3

Mode assignment for PINIO#1

Default	Min	Max
BOX_PERMANENT_ID_NONE	0	255

---

pinio_box4

Mode assignment for PINIO#1

Default	Min	Max
BOX_PERMANENT_ID_NONE	0	255

---

pitch_rate

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.

Default	Min	Max
20	4	180

---

pitot_hardware

Selection of pitot hardware.

Default	Min	Max
NONE

---

pitot_lpf_milli_hz

// TODO

Default	Min	Max
350	0	10000

---

pitot_scale

// TODO

Default	Min	Max
1.0	0	100

---

platform_type

Defines UAV platform type. Allowed values: "MULTIROTOR", "AIRPLANE", "HELICOPTER", "TRICOPTER", "ROVER", "BOAT". Currently only MULTIROTOR, AIRPLANE and TRICOPTER types are implemented

Default	Min	Max
MULTIROTOR

---

pos_hold_deadband

Stick deadband in [r/c points], applied after r/c deadband and expo. Used for adjustments in navigation modes.

Default	Min	Max
10	2	250

---

prearm_timeout

Duration (ms) for which Prearm being activated is valid. after this, Prearm needs to be reset. 0 means Prearm does not timeout.

Default	Min	Max
10000	0	10000

---

rangefinder_hardware

Selection of rangefinder hardware.

Default	Min	Max
NONE

---

rangefinder_median_filter

3-point median filtering for rangefinder readouts

Default	Min	Max
OFF	OFF	ON

---

rate_accel_limit_roll_pitch

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.

Default	Min	Max
0		500000

---

rate_accel_limit_yaw

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.

Default	Min	Max
10000		500000

---

rate_dynamics_center_correction

The center stick correction for Rate Dynamics

Default	Min	Max
10	10	95

---

rate_dynamics_center_sensitivity

The center stick sensitivity for Rate Dynamics

Default	Min	Max
100	25	175

---

rate_dynamics_center_weight

The center stick weight for Rate Dynamics

Default	Min	Max
0	0	95

---

rate_dynamics_end_correction

The end stick correction for Rate Dynamics

Default	Min	Max
10	10	95

---

rate_dynamics_end_sensitivity

The end stick sensitivity for Rate Dynamics

Default	Min	Max
100	25	175

---

rate_dynamics_end_weight

The end stick weight for Rate Dynamics

Default	Min	Max
0	0	95

---

rc_expo

Exposition value used for the PITCH/ROLL axes by all the stabilized flights modes (all but MANUAL)

Default	Min	Max
70	0	100

---

rc_filter_frequency

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

Default	Min	Max
50	0	100

---

rc_yaw_expo

Exposition value used for the YAW axis by all the stabilized flights modes (all but MANUAL)

Default	Min	Max
20	0	100

---

reboot_character

Special character used to trigger reboot

Default	Min	Max
82	48	126

---

receiver_type

Selection of receiver (RX) type. Additional configuration of a serialrx_provider and a UART will be needed for SERIAL

Default	Min	Max
target default

---

report_cell_voltage

S.Port, D-Series, and IBUS telemetry: Send the average cell voltage if set to ON

Default	Min	Max
OFF	OFF	ON

---

roll_rate

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.

Default	Min	Max
20	4	180

---

rpm_gyro_filter_enabled

Enables gyro RPM filtere. Set to ON only when ESC telemetry is working and rotation speed of the motors is correctly reported to INAV

Default	Min	Max
OFF	OFF	ON

---

rpm_gyro_harmonics

Number of harmonic frequences to be covered by gyro RPM filter. Default value of 1 usually works just fine

Default	Min	Max
1	1	3

---

rpm_gyro_min_hz

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

Default	Min	Max
100	30	200

---

rpm_gyro_q

Q factor for gyro RPM filter. Lower values give softer, wider attenuation. Usually there is no need to change this setting

Default	Min	Max
500	1	3000

---

rssi_adc_channel

ADC channel to use for analog RSSI input. Defaults to board RSSI input (if available). 0 = disabled

Default	Min	Max
target default	ADC_CHN_NONE	ADC_CHN_MAX

---

rssi_channel

RX channel containing the RSSI signal

Default	Min	Max
0	0	MAX_SUPPORTED_RC_CHANNEL_COUNT

---

rssi_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.

Default	Min	Max
100	RSSI_VISIBLE_VALUE_MIN	RSSI_VISIBLE_VALUE_MAX

---

rssi_min

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).

Default	Min	Max
0	RSSI_VISIBLE_VALUE_MIN	RSSI_VISIBLE_VALUE_MAX

---

rssi_source

Source of RSSI input. Possible values: NONE, AUTO, ADC, CHANNEL, PROTOCOL, MSP

Default	Min	Max
AUTO

---

rth_energy_margin

Energy margin wanted after getting home (percent of battery energy capacity). Use for the remaining flight time/distance calculation

Default	Min	Max
5	0	100

---

rx_max_usec

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.

Default	Min	Max
2115	PWM_PULSE_MIN	PWM_PULSE_MAX

---

rx_min_usec

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.

Default	Min	Max
885	PWM_PULSE_MIN	PWM_PULSE_MAX

---

rx_spi_id

// TODO

Default	Min	Max
0	0	0

---

rx_spi_protocol

// TODO

Default	Min	Max
target default

---

rx_spi_rf_channel_count

// TODO

Default	Min	Max
0	0	8

---

safehome_max_distance

In order for a safehome to be used, it must be less than this distance (in cm) from the arming point.

Default	Min	Max
20000	0	65000

---

safehome_usage_mode

Used to control when safehomes will be used. Possible values are OFF, RTH and RTH_FS. See Safehome documentation for more information.

Default	Min	Max
RTH

---

sbus_sync_interval

// TODO

Default	Min	Max
3000	500	10000

---

sdcard_detect_inverted

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.

Default	Min	Max
target default

---

serialrx_halfduplex

Allow serial receiver to operate on UART TX pin. With some receivers will allow control and telemetry over a single wire.

Default	Min	Max
AUTO

---

serialrx_inverted

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).

Default	Min	Max
OFF	OFF	ON

---

serialrx_provider

When feature SERIALRX is enabled, this allows connection to several receivers which output data via digital interface resembling serial. See RX section.

Default	Min	Max
target default

---

servo_autotrim_rotation_limit

Servo midpoints are only updated when total aircraft rotation is less than this threshold [deg/s]. Only applies when using feature FW_AUTOTRIM.

Default	Min	Max
15	1	60

---

servo_center_pulse

Servo midpoint

Default	Min	Max
1500	PWM_RANGE_MIN	PWM_RANGE_MAX

---

servo_lpf_hz

Selects the servo PWM output cutoff frequency. Value is in [Hz]

Default	Min	Max
20	0	400

---

servo_protocol

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)

Default	Min	Max
PWM

---

servo_pwm_rate

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.

Default	Min	Max
50	50	498

---

setpoint_kalman_enabled

Enable Kalman filter on the gyro data

Default	Min	Max
ON	OFF	ON

---

setpoint_kalman_q

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

Default	Min	Max
100	1	16000

---

sim_ground_station_number

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.

Default	Min	Max
empty

---

sim_low_altitude

Threshold for low altitude warning messages sent by SIM module when the 'L' transmit flag is set in sim_transmit_flags.

Default	Min	Max
-32767	-32768	32767

---

sim_pin

PIN code for the SIM module

Default	Min	Max
0000

---

sim_transmit_flags

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

Default	Min	Max
SIM_TX_FLAG_FAILSAFE		63

---

sim_transmit_interval

Text message transmission interval in seconds for SIM module. Minimum value: 10

Default	Min	Max
60	SIM_MIN_TRANSMIT_INTERVAL	65535

---

small_angle

If the aircraft tilt angle exceed this value the copter will refuse to arm.

Default	Min	Max
25	0	180

---

smartport_fuel_unit

S.Port telemetry only: Unit of the value sent with the FUEL ID (FrSky D-Series always sends percent). [PERCENT/MAH/MWH]

Default	Min	Max
MAH

---

smartport_master_halfduplex

// TODO

Default	Min	Max
ON	OFF	ON

---

smartport_master_inverted

// TODO

Default	Min	Max
OFF	OFF	ON

---

smith_predictor_delay

Expected delay of the gyro signal. In milliseconds

Default	Min	Max
0	0	8

---

smith_predictor_lpf_hz

Cutoff frequency for the Smith Predictor Low Pass Filter

Default	Min	Max
50	1	500

---

smith_predictor_strength

The strength factor of a Smith Predictor of PID measurement. In percents

Default	Min	Max
0.5	0	1

---

spektrum_sat_bind

0 = disabled. Used to bind the spektrum satellite to RX

Default	Min	Max
SPEKTRUM_SAT_BIND_DISABLED	SPEKTRUM_SAT_BIND_DISABLED	SPEKTRUM_SAT_BIND_MAX

---

srxl2_baud_fast

// TODO

Default	Min	Max
ON	OFF	ON

---

srxl2_unit_id

// TODO

Default	Min	Max
1	0	15

---

stats

General switch of the statistics recording feature (a.k.a. odometer)

Default	Min	Max
OFF	OFF	ON

---

stats_total_dist

Total flight distance [in meters]. The value is updated on every disarm when "stats" are enabled.

Default	Min	Max
0		2147483647

---

stats_total_energy

Total energy consumption [in mWh]. The value is updated on every disarm when "stats" are enabled.

Default	Min	Max
0		2147483647

---

stats_total_time

Total flight time [in seconds]. The value is updated on every disarm when "stats" are enabled.

Default	Min	Max
0		2147483647

---

switch_disarm_delay

Delay before disarming when requested by switch (ms) [0-1000]

Default	Min	Max
250	0	1000

---

telemetry_halfduplex

S.Port telemetry only: Turn UART into UNIDIR for usage on F1 and F4 target. See Telemetry.md for details

Default	Min	Max
ON	OFF	ON

---

telemetry_inverted

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.

Default	Min	Max
OFF	OFF	ON

---

telemetry_switch

Which aux channel to use to change serial output & baud rate (MSP / Telemetry). It disables automatic switching to Telemetry when armed.

Default	Min	Max
OFF	OFF	ON

---

thr_comp_weight

Weight used for the throttle compensation based on battery voltage. See the battery documentation

Default	Min	Max
1	0	2

---

thr_expo

Throttle exposition value

Default	Min	Max
0	0	100

---

thr_mid

Throttle value when the stick is set to mid-position. Used in the throttle curve calculation.

Default	Min	Max
50	0	100

---

throttle_idle

The percentage of the throttle range (max_throttle - min_command) above min_command used for minimum / idle throttle.

Default	Min	Max
15	0	30

---

throttle_scale

Throttle scaling factor. 1 means no throttle scaling. 0.5 means throttle scaled down by 50%

Default	Min	Max
1.0	0	1

---

throttle_tilt_comp_str

Can be used in ANGLE and HORIZON mode and will automatically boost throttle when banking. Setting is in percentage, 0=disabled.

Default	Min	Max
0	0	100

---

tpa_breakpoint

See tpa_rate.

Default	Min	Max
1500	PWM_RANGE_MIN	PWM_RANGE_MAX

---

tpa_rate

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.

Default	Min	Max
0	0	100

---

tri_unarmed_servo

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.

Default	Min	Max
ON	OFF	ON

---

turtle_mode_power_factor

Turtle mode power factor

Default	Min	Max
55	0	100

---

tz_automatic_dst

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.

Default	Min	Max
OFF

---

tz_offset

Time zone offset from UTC, in minutes. This is applied to the GPS time for logging and time-stamping of Blackbox logs

Default	Min	Max
0	-1440	1440

---

vbat_adc_channel

ADC channel to use for battery voltage sensor. Defaults to board VBAT input (if available). 0 = disabled

Default	Min	Max
target default	ADC_CHN_NONE	ADC_CHN_MAX

---

vbat_cell_detect_voltage

Maximum voltage per cell, used for auto-detecting the number of cells of the battery in 0.01V units.

Default	Min	Max
425	100	500

---

vbat_max_cell_voltage

Maximum voltage per cell in 0.01V units, default is 4.20V

Default	Min	Max
420	100	500

---

vbat_meter_type

Vbat voltage source. Possible values: NONE, ADC, ESC. ESC required ESC telemetry enebled and running

Default	Min	Max
ADC

---

vbat_min_cell_voltage

Minimum voltage per cell, this triggers battery out alarms, in 0.01V units, default is 330 (3.3V)

Default	Min	Max
330	100	500

---

vbat_scale

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.

Default	Min	Max
target default	0	65535

---

vbat_warning_cell_voltage

Warning voltage per cell, this triggers battery-warning alarms, in 0.01V units, default is 350 (3.5V)

Default	Min	Max
350	100	500

---

vtx_band

Configure the VTX band. Set to zero to use vtx_freq. Bands: 1: A, 2: B, 3: E, 4: F, 5: Race.

Default	Min	Max
1	VTX_SETTINGS_NO_BAND	VTX_SETTINGS_MAX_BAND

---

vtx_channel

Channel to use within the configured vtx_band. Valid values are [1, 8].

Default	Min	Max
1	VTX_SETTINGS_MIN_CHANNEL	VTX_SETTINGS_MAX_CHANNEL

---

vtx_frequency_group

VTx Frequency group to use. Frequency groups: FREQUENCYGROUP_5G8: 5.8GHz, FREQUENCYGROUP_2G4: 2.4GHz, FREQUENCYGROUP_1G3: 1.3GHz.

Default	Min	Max
FREQUENCYGROUP_5G8	0	2

---

vtx_halfduplex

Use half duplex UART to communicate with the VTX, using only a TX pin in the FC.

Default	Min	Max
ON	OFF	ON

---

vtx_low_power_disarm

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.

Default	Min	Max
OFF

---

vtx_max_power_override

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

Default	Min	Max
0	0	10000

---

vtx_pit_mode_chan

// TODO

Default	Min	Max
1	VTX_SETTINGS_MIN_CHANNEL	VTX_SETTINGS_MAX_CHANNEL

---

vtx_power

VTX RF power level to use. The exact number of mw depends on the VTX hardware.

Default	Min	Max
1	VTX_SETTINGS_MIN_POWER	VTX_SETTINGS_MAX_POWER

---

vtx_smartaudio_alternate_softserial_method

Enable the alternate softserial method. This is the method used in iNav 3.0 and ealier.

Default	Min	Max
ON	OFF	ON

---

vtx_smartaudio_early_akk_workaround

Enable workaround for early AKK SAudio-enabled VTX bug.

Default	Min	Max
ON	OFF	ON

---

vtx_softserial_shortstop

Enable the 3x shorter stopbit on softserial. Need for some IRC Tramp VTXes.

Default	Min	Max
OFF	OFF	ON

---

yaw_deadband

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.

Default	Min	Max
5	0	100

---

yaw_lpf_hz

Yaw P term low pass filter cutoff frequency. Should be disabled (set to 0) on small multirotors (7 inches and below)

Default	Min	Max
0	0	200

---

yaw_rate

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.

Default	Min	Max
20	1	180

---