Updated and Validated

[betaflight.git] / docs / Cli.md

# Command Line Interface (CLI)

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

## Accessing the CLI.

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

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

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

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

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

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

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

## Backup via CLI

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

dump using cli

```
rateprofile 0
profile 0
dump
```

dump profiles using cli if you use them

```
profile 1
dump profile
profile 2
dump profile
```

dump rate profiles using cli if you use them

```
rateprofile 1
dump rates
rateprofile 2
dump rates
```
copy screen output to a file and save it.

## Restore via CLI.

Use the cli `defaults` command first.

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

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

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

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

Repeat the backup process again!

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

Re-apply any new defaults as desired.

## CLI Command Reference

Click on a command to jump to the relevant documentation page.

| `Command`                               | Description                                    |
|-----------------------------------------|------------------------------------------------|
| `1wire <esc>`                           | passthrough 1wire to the specified ESC         |
| [`adjrange`](Inflight%20Adjustments.md) | show/set adjustment ranges settings            |
| [`aux`](Modes.md)                       | show/set aux settings                          |
| [`mmix`](Mixer.md)                      | design custom motor mixer                      |
| [`smix`](Mixer.md)                      | design custom servo mixer                      |
| [`color`](LedStrip.md)                  | configure colors                               |
| `defaults`                              | reset to defaults and reboot                   |
| `dump`                                  | print configurable settings in a pastable form |
| `dma`                                   | configure direct memory access channel         |
| `exit`                                  |                                                |
| `feature`                               | list or -val or val                            |
| `get`                                   | get variable value                             |
| [`gpspassthrough`](Gps.md)              | passthrough GPS to serial                      |
| `help`                                  |                                                |
| [`led`](LedStrip.md)                    | configure leds                                 |
| [`map`](Rx.md)                          | mapping of RC channel order                    |
| [`mixer`](Mixer.md)                     | mixer name or list                             |
| [`mode_color`](LedStrip.md)             | configure mode colors                          |
| `motor`                                 | get/set motor output value                     |
| [`play_sound`](Buzzer.md)               | index, or none for next                        |
| [`profile`](Profiles.md)                | index (0 to 2)                                 |
| [`rateprofile`](Profiles.md)            | index (0 to 2)                                 |
| [`rxrange`](Rx.md)                      | configure rx channel ranges (end-points)       |
| [`rxfail`](Rx.md)                       | show/set rx failsafe settings                  |
| `save`                                  | save and reboot                                |
| `serialpassthrough`                     | serial passthrough mode, reset board to exit   |
| `set`                                   | name=value or blank or * for list              |
| `status`                                | show system status                             |
| `timer`                                 | configure timer                                |
| `version`                               | show version                                   |
| [`serial`](Serial.md)                   | configure serial ports                         |
| [`servo`](Mixer.md)                     | configure servos                               |
| `sd_info`                               | sdcard info                                    |
| `tasks`                                 | show task stats                                |

## CLI Variable Reference

Click on a variable to jump to the relevant documentation page.

| `Variable`                                    | Description/Units                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | Min    | Max    | Default          | Type         | Datatype |
|-----------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|--------|--------|------------------|--------------|----------|
| `looptime`                                    | This is the main loop time (in us). Changing this affects PID effect with some PID controllers (see PID section for details). Default of 3500us/285Hz should work for everyone. Setting it to zero does not limit loop time, so it will go as fast as possible.                                                                                                                                                                                                                                                          | 0      | 9000   | 3500             | Master       | UINT16   |
| `emf_avoidance`                               | Default value is OFF for 72MHz processor speed. Setting this to ON increases the processor speed, to move the 6th harmonic away from 432MHz.                                                                                                                                                                                                                                                                                                                                                                             | OFF    | ON     | OFF              | Master       | UINT8    |
| `i2c_highspeed`                               | Enabling this feature speeds up IMU speed significantly and faster looptimes are possible.                                                                                                                                                                                                                                                                                                                                                                                                                               | OFF    | ON     | ON               | Master       | UINT8    |
| [`gyro_sync`](Pid%20tuning.md)                | This option enables gyro_sync feature. In this case the loop will be synced to gyro refresh rate. Loop will always wait for the newest gyro measurement. Use gyro_lpf and gyro_sync_denom determine the gyro refresh rate. Note that different targets have different limits. Setting too high refresh rate can mean that FC cannot keep up with the gyro and higher gyro_sync_denom is needed.                                                                                                                          | OFF    | ON     | ON               | Master       | UINT8    |
| [`mid_rc`](Rx.md)                             | This is an important number to set in order to avoid trimming receiver/transmitter. Most standard receivers will have this at 1500, however Futaba transmitters will need this set to 1520. A way to find out if this needs to be changed, is to clear all trim/subtrim on transmitter, and connect to GUI. Note the value most channels idle at - this should be the number to choose. Once midrc is set, use subtrim on transmitter to make sure all channels (except throttle of course) are centered at midrc value. | 1200   | 1700   | 1500             | Master       | UINT16   |
| [`min_check`](Controls.md)                    | 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.                                                                                                                                            | 0      | 2000   | 1100             | Master       | UINT16   |
| [`max_check`](Controls.md)                    | 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.                                                                                                                                            | 0      | 2000   | 1900             | Master       | UINT16   |
| [`rssi_channel`](Rssi.md)                     | RX channel containing the RSSI signal                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    | 0      | 18     | 0                | Master       | INT8     |
| [`rssi_scale`](Rssi.md)                       | When using ADC RSSI, the raw ADC value will be divided by rssi_scale in order to get the RSSI percentage. RSSI scale is therefore the ADC raw value for 100% RSSI.                                                                                                                                                                                                                                                                                                                                                       | 1      | 255    | 30               | Master       | UINT8    |
| [`rssi_invert`](Rssi.md)                  | When using PWM RSSI or ADC RSSI, determines if the signal is inverted (Futaba, FrSKY)                                                                                                                                                                                                                                                                                                                                                                                                                                                | OFF    | ON     | ON               | Master       | INT8     |
| `rc_smoothing`                                | Interpolation of Rc data during looptimes when there are no new updates. This gives smoother RC input to PID controller and cleaner PIDsum                                                                                                                                                                                                                                                                                                                                                                               | OFF    | ON     | ON               | Master       | INT8     |
| [`rx_min_usec`](Rx.md)                        | 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`.                                                                                                                                                                                                                                                                                       | 750    | 2250   | 885              | Master       | UINT16   |
| [`rx_max_usec`](Rx.md)                        | 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`.                                                                                                                                                                                                                                                                                       | 750    | 2250   | 2115             | Master       | UINT16   |
| [`serialrx_provider`](Rx.md)                  | When feature SERIALRX is enabled, this allows connection to several receivers which output data via digital interface resembling serial. Possible values: SPEK1024, SPEK2048, SBUS, SUMD, XB-B, XB-B-RJ01, IBUS                                                                                                                                                                                                                                                                                                          |        |        | SPEK1024         | Master       | UINT8    |
| [`sbus_inversion`](Rx.md)                     | Standard SBUS (Futaba, FrSKY) uses an inverted signal. Some OpenLRS receivers produce a non-inverted SBUS signal. This setting is to support this type of receivers (including modified FrSKY). This only works on supported hardware (mainly F3 based flight controllers).                                                                                                                                                                                                                                              | OFF    | ON     | ON               | Master       | UINT8    |
| [`spektrum_sat_bind`](Spektrum%20bind.md)     | 0 = disabled. Used to bind the spektrum satellite to RX                                                                                                                                                                                                                                                                                                                                                                                                                                                                  | 0      | 10     | 0                | Master       | UINT8    |
| [`input_filtering_mode`](Rx.md)               | Filter out noise from OpenLRS Telemetry RX                                                                                                                                                                                                                                                                                                                                                                                                                                                                               | OFF    | ON     | ON               | Master       | INT8     |
| [`min_throttle`](Controls.md)                 | These are min/max values (in us) that are sent to ESC when armed. Defaults of 1150/1850 are OK for everyone, for use with AfroESC, they could be set to 1064/1864.                                                                                                                                                                                                                                                                                                                                                       | 0      | 2000   | 1150             | Master       | UINT16   |
| [`max_throttle`](Controls.md)                 | These are min/max values (in us) that are sent to ESC when armed. Defaults of 1150/1850 are OK for everyone, for use with AfroESC, they could be set to 1064/1864.  If you have brushed motors, the value should be set to 2000.                                                                                                                                                                                                                                                                                         | 0      | 2000   | 1850             | Master       | UINT16   |
| [`min_command`](Controls.md)                  | 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.                                                                                                                                                                                                                                                                                                                                        | 0      | 2000   | 1000             | Master       | UINT16   |
| `servo_center_pulse`                          | Servo midpoint                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           | 0      | 2000   | 1500             | Master       | UINT16   |
| `motor_pwm_rate`                              | Output frequency (in Hz) for motor pins. Defaults are 400Hz for motor. If setting above 500Hz, will switch to brushed (direct drive) motors mode. For example, setting to 8000 will use brushed mode at 8kHz switching frequency. Up to 32kHz is supported.  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.                                                                                               | 50     | 32000  | 400              | Master       | UINT16   |
| `servo_pwm_rate`                              | Output frequency (in Hz) servo pins. Default is 50Hz. When using tricopters or gimbal with digital servo, this rate can be increased. Max of 498Hz (for 500Hz pwm period), and min of 50Hz. Most digital servos will support for example 330Hz.                                                                                                                                                                                                                                                                          | 50     | 498    | 50               | Master       | UINT16   |
| `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)                                                                                                                                                                                                                                                                                                                                                               | 0      | 2000   | 1406             | Master       | UINT16   |
| `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)                                                                                                                                                                                                                                                                                                                                                                                               | 0      | 2000   | 1514             | Master       | UINT16   |
| `3d_neutral`                                  | Neutral (stop) throttle value for 3D mode                                                                                                                                                                                                                                                                                                                                                                                                                                                                                | 0      | 2000   | 1460             | Master       | UINT16   |
| `retarded_arm`                                | Disabled by default, enabling (setting to 1) allows disarming by throttle low + roll. This could be useful for mode-1 users and non-acro tricopters, where default arming by yaw could move tail servo too much.                                                                                                                                                                                                                                                                                                         | OFF    | ON     | OFF              | Master       | UINT8    |
| `disarm_kill_switch`                          | Enabled by default. Disarms the motors independently of throttle value. Setting to 0 reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel.                                                                                                                                                                                                                                                                                                | OFF    | ON     | ON               | Master       | UINT8    |
| `auto_disarm_delay`                           | Delay before automatic disarming                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         | 0      | 60     | 5                | Master       | UINT8    |
| `max_arm_angle`                               | Maximum horizontal angle before arming is disabled                                                                                                                                                                                                                                                                                                                                                                                                                                                                       | 0      | 180    | 25               | Master       | UINT8    |
| `small_angle`                                 | If the copter tilt angle exceed this value the copter will refuse to arm. default is 25°.                                                                                                                                                                                                                                                                                                                                                                                                                                | 0      | 180    | 25               | Master       | UINT8    |
| `fixedwing_althold_dir`                       | Used for fixed-wing aircrafts. Determines of the correction value applied to throttle in alititude hold mode should be inverted.                                                                                                                                                                                                                                                                                                                                                                                         | -1     | 1      | 1                | Master       | INT8     |
| `reboot_character`                            | Special character used to trigger reboot                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 | 48     | 126    | 82               | Master       | UINT8    |
| [`gps_provider`](Gps.md)                      | GPS standard. Possible values: NMEA, UBLOX                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |        |        | NMEA             | Master       | UINT8    |
| [`gps_sbas_mode`](Gps.md)                     | Ground assistance type. Possible values: AUTO, EGNOS, WAAS, MSAS, GAGAN                                                                                                                                                                                                                                                                                                                                                                                                                                                  |        |        | AUTO             | Master       | UINT8    |
| [`gps_auto_config`](Gps.md)                   | Enable automatic configuration of UBlox GPS receivers.                                                                                                                                                                                                                                                                                                                                                                                                                                                                   | OFF    | ON     | ON               | Master       | UINT8    |
| `gps_auto_baud`                               | Enable automatic detection of GPS baudrate.                                                                                                                                                                                                                                                                                                                                                                                                                                                                              | OFF    | ON     | OFF              | Master       | UINT8    |
| `gps_pos_p`                                   | GPS Position hold: P parameter                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           | 0      | 200    | 15               | Profile      | UINT8    |
| `gps_pos_i`                                   | GPS Position hold: I parameter                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           | 0      | 200    | 0                | Profile      | UINT8    |
| `gps_pos_d`                                   | GPS Position hold: D parameter                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           | 0      | 200    | 0                | Profile      | UINT8    |
| `gps_posr_p`                                  | GPS Position hold rate: P parameter                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      | 0      | 200    | 34               | Profile      | UINT8    |
| `gps_posr_i`                                  | GPS Position hold rate: I parameter                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      | 0      | 200    | 14               | Profile      | UINT8    |
| `gps_posr_d`                                  | GPS Position hold rate: D parameter                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      | 0      | 200    | 53               | Profile      | UINT8    |
| `gps_nav_p`                                   | GPS Navigation: P parameter                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              | 0      | 200    | 25               | Profile      | UINT8    |
| `gps_nav_i`                                   | GPS Navigation: I parameter                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              | 0      | 200    | 33               | Profile      | UINT8    |
| `gps_nav_d`                                   | GPS Navigation: D parameter                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              | 0      | 200    | 83               | Profile      | UINT8    |
| `gps_wp_radius`                               | GPS Navigation: waypoint radius                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          | 0      | 2000   | 200              | Profile      | UINT16   |
| `nav_controls_heading`                        | GPS Navigation: should the craft's heading follow the flying direction.                                                                                                                                                                                                                                                                                                                                                                                                                                                  | OFF    | ON     | ON               | Profile      | UINT8    |
| `nav_speed_min`                               | GPS Navigation: minimum moving speed                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     | 10     | 2000   | 100              | Profile      | UINT16   |
| `nav_speed_max`                               | GPS Navigation: maximum moving speed                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     | 10     | 2000   | 300              | Profile      | UINT16   |
| `nav_slew_rate`                               | GPS Navigation: maximum angle correction value. Lower slew rate stops the craft from rotating too quickly.                                                                                                                                                                                                                                                                                                                                                                                                               | 0      | 100    | 30               | Profile      | UINT8    |
| `telemetry_switch`                            | When an AUX channel is used to change serial output & baud rate (MSP / Telemetry). OFF: Telemetry is activated when armed. ON: Telemetry is activated by the AUX channel.                                                                                                                                                                                                                                                                                                                                                | OFF    | ON     | OFF              | Master       | UINT8    |
| [`report_cell_voltage`](Telemetry.md)         | Determines if the voltage reported is Vbatt or calculated average cell voltage.                                                                                                                                                                                                                                                                                                                                                                                                                                          | OFF    | ON     | OFF              | Master       | UINT8    |
| [`telemetry_inversion`](Telemetry.md)         | Determines if the telemetry signal is inverted (Futaba, FrSKY)                                                                                                                                                                                                                                                                                                                                                                                                                                                           | OFF    | ON     | OFF              | Master       | UINT8    |
| `telemetry_send_cells`             | Emulates FrSky FLVSS individual cell voltages telemetry                                                                                                                                                                                                                                                                                                                                                                                                                                                           | OFF    | ON     | OFF              | Master       | UINT8    |
| `frsky_default_lattitude`                     | 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.                                                                                                                                                                                                                                                                                                                                                                                    | -90    | 90     | 0                | Master       | FLOAT    |
| `frsky_default_longitude`                     | 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.                                                                                                                                                                                                                                                                                                                                                                                    | -180   | 180    | 0                | Master       | FLOAT    |
| `frsky_coordinates_format`                    | FRSKY_FORMAT_DMS (default), FRSKY_FORMAT_NMEA                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |        |        | FRSKY_FORMAT_DMS | Master       | UINT8    |
| `frsky_unit`                                  | IMPERIAL (default), METRIC                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |        |        | IMPERIAL         | Master       | UINT8    |
| [`frsky_vfas_precision`](Telemetry.md)        | 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                                                                                                                                                                                                                                                                                                                                                                                           | 0      | 1      | 0                | Master       | UINT8    |
| `hott_alarm_sound_interval`                   | Battery alarm delay in seconds for Hott telemetry                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 120    | 5                | Master       | UINT8    |
| [`bat_capacity`](Battery.md)              | Battery capacity in mAH. This value is used in conjunction with the current meter to determine remaining battery capacity.                                                                                                                                                                                                                                                                                                                                                                                               | 0      | 20000  | 0                | Master       | UINT16   |
| [`vbat_scale`](Battery.md)                    | Result is Vbatt in 0.1V steps. 3.3V = ADC Vref, 4095 = 12bit adc, 110 = 11:1 voltage divider (10k:1k) x 10 for 0.1V. Adjust this slightly if reported pack voltage is different from multimeter reading. You can get current voltage by typing "status" in cli.                                                                                                                                                                                                                                                          | 0      | 255    | 110              | Master       | UINT8    |
| [`vbat_max_cell_voltage`](Battery.md)         | Maximum voltage per cell, used for auto-detecting battery voltage in 0.01V units, default is 430 (4.3V)                                                                                                                                                                                                                                                                                                                                                                                                                    | 100     | 500     | 430               | Master       | UINT16    |
| [`vbat_min_cell_voltage`](Battery.md)         | Minimum voltage per cell, this triggers battery-critical alarms, in 0.01V units, default is 330 (3.3V)                                                                                                                                                                                                                                                                                                                                                                                                                     | 100     | 500     | 330               | Master       | UINT16    |
| [`vbat_warning_cell_voltage`](Battery.md)     | Warning voltage per cell, this triggers battery-warning alarms, in 0.01V units, default is 350 (3.5V)                                                                                                                                                                                                                                                                                                                                                                                                                      | 100     | 500     | 350               | Master       | UINT16    |
| [`vbat_hysteresis`](Battery.md)               | Sets the hysteresis value for low-battery alarms, in 0.01V units, default is 1 (0.01V)                                                                                                                                                                                                                                                                                                                                                                                                                                     | 10     | 250    | 1                | Master       | UINT8    |
| [`current_meter_scale`](Battery.md)           | 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.                                                                                                                                                                                                                                                                                                                  | -10000 | 10000  | 400              | Master       | INT16    |
| [`current_meter_offset`](Battery.md)          | This sets the output offset voltage of the current sensor in millivolts.                                                                                                                                                                                                                                                                                                                                                                                                                                                 | 0      | 3300   | 0                | Master       | UINT16   |
| [`multiwii_current_meter_output`](Battery.md) | Default current output via MSP is in 0.01A steps. Setting this to 1 causes output in default multiwii scaling (1mA steps).                                                                                                                                                                                                                                                                                                                                                                                               | OFF    | ON     | OFF              | Master       | UINT8    |
| [`current_meter_type`](Battery.md)            | ADC (default), VIRTUAL, NONE. The virtual current sensor, once calibrated, estimates the current value from throttle position.                                                                                                                                                                                                                                                                                                                                                                                       |        |        | ADC              | Master       | UINT8    |
| `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, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP.                                                                                                                                                                               |        |        | DEFAULT          | Master       | UINT8    |
| `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, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP.                                                                                                                                                                               |        |        | DEFAULT          | Master       | UINT8    |
| `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, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP.                                                                                                                                                                               |        |        | DEFAULT          | Master       | UINT8    |
| `align_board_roll`                            | Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc                                                                                                                                                                                                                                                                                                                                                                                                                           | -180   | 360    | 0                | Master       | INT16    |
| `align_board_pitch`                           | Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc                                                                                                                                                                                                                                                                                                                                                                                                                           | -180   | 360    | 0                | Master       | INT16    |
| `align_board_yaw`                             | Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc                                                                                                                                                                                                                                                                                                                                                                                                                           | -180   | 360    | 0                | Master       | INT16    |
| `max_angle_inclination`                       | This setting controls max inclination (tilt) allowed in angle (level) mode. default 500 (50 degrees).                                                                                                                                                                                                                                                                                                                                                                                                                    | 100    | 900    | 500              | Master       | UINT16   |
| [`gyro_lpf`](PID%20tuning.md)                 | Hardware lowpass filter cutoff frequency for gyro. Allowed values depend on the driver - For example MPU6050 allows 10HZ,20HZ,42HZ,98HZ,188HZ. If you have to set gyro lpf below 42Hz generally means the frame is vibrating too much, and that should be fixed first.                                                                                                                                                                                                                                                   | 10HZ   | 188HZ  | 42HZ             | Master       | UINT16   |
| `gyro_soft_lpf`                               | Software lowpass filter cutoff frequency for gyro. Default is 60Hz. Set to 0 to disable.                                                                                                                                                                                                                                                                                                                                                                                                                                 | 0      | 500    | 60               | Master       | UINT16   |
| `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 (default of 32) means how much average gyro reading could differ before re-calibration is triggered.                                                                                                                                                                                                            | 0      | 128    | 32               | Master       | UINT8    |
| `imu_dcm_kp`                                  | Inertial Measurement Unit KP Gain                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 20000  | 2500             | Master       | UINT16   |
| `imu_dcm_ki`                                  | Inertial Measurement Unit KI Gain                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 20000  | 0                | Master       | UINT16   |
| `alt_hold_deadband`                           | Altitude will be held when throttle is centered with an error margin defined in this parameter.                                                                                                                                                                                                                                                                                                                                                                                                                          | 1      | 250    | 40               | Profile      | UINT8    |
| `alt_hold_fast_change`                        | Authorise fast altitude changes. Should be disabled when slow changes are preferred, for example for aerial photography.                                                                                                                                                                                                                                                                                                                                                                                                  | OFF    | ON     | ON               | Profile      | UINT8    |
| [`deadband`](Controls.md)                     | These are values (in us) by how much RC input can be different before it's considered valid for roll and pitch axis. 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. This value is applied either side of the centrepoint.                                                                                                                                                                                  | 0      | 32     | 0                | Profile      | UINT8    |
| [`yaw_deadband`](Controls.md)                 | These are values (in us) by how much RC input can be different before it's considered valid for the yaw axis. 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. This value is applied either side of the centrepoint.                                                                                                                                                                                         | 0      | 100    | 0                | Profile      | UINT8    |
| `yaw_control_direction`                       | Use if you need to inverse yaw control direction.                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | -1     | 1      | 1                | Profile      | INT8     |
| `3d_deadband_throttle`                        | Throttle signal will be held to a fixed value when throttle is centered with an error margin defined in this parameter.                                                                                                                                                                                                                                                                                                                                                                                                  | 0      | 2000   | 50               | Profile      | UINT16   |
| `throttle_correction_value`                   | The throttle_correction_value will be added to the throttle input. It will be maximal at the throttle_correction_angle and over, null when the copter is leveled and proportional in bewteen. The angle is set with 0.1 deg steps from 1 to 900, i.e. : 300 = 30.0 deg, 225 = 22.5 deg.                                                                                                                                                                                                                                    | 0      | 150    | 0                | Profile      | UINT8    |
| `throttle_correction_angle`                   | The throttle_correction_value will be added to the throttle input. It will be maximal at the throttle_correction_angle and over, null when the copter is leveled and proportional in bewteen. The angle is set with 0.1 deg steps from 1 to 900, i.e. : 300 = 30.0 deg, 225 = 22.5 deg.                                                                                                                                                                                                                                    | 1      | 900    | 800              | Profile      | UINT16   |
| `pid_at_min_throttle`                         | If enabled, the copter will process the PID algorithm at minimum throttle.  Cannot be used when `retarded_arm` is enabled.                                                                                                                                                                                                                                                                                                                                                                                               | OFF    | ON     | ON               | Master       | UINT8    |
| `yaw_motor_direction`                         | Use if you need to inverse yaw motor direction.                                                                                                                                                                                                                                                                                                                                                                                                                                                                          | -1     | 1      | 1                | Master       | INT8     |
| `yaw_jump_prevention_limit`                   | Prevent yaw jumps during yaw stops and rapid YAW input. To disable set to 500. Adjust this if your aircraft 'skids out'. Higher values increases YAW authority but can cause roll/pitch instability in case of underpowered UAVs. Lower values makes yaw adjustments more gentle but can cause UAV unable to keep heading                                                                                                                                                                                                | 80     | 500    | 200              | Master       | UINT16   |
| [`tri_unarmed_servo`](Controls.md)            | On tricopter mix only, if this is set to 1, servo will always be correcting regardless of armed state. to disable this, set it to 0.                                                                                                                                                                                                                                                                                                                                                                                     | OFF    | ON     | ON               | Master       | INT8     |
| [`servo_lowpass_freq`](Mixer.md)              | Selects the servo PWM output cutoff frequency. Valid values range from 10 to 400. This is a fraction of the loop frequency in 1/1000ths. For example, `40` means `0.040`.  The cutoff frequency can be determined by the following formula: `Frequency = 1000 * servo_lowpass_freq / looptime`                                                                                                                                                                                                                           | 10     | 400    | 400              | Master       | FLOAT    |
| [`servo_lowpass_enable`](Mixer.md)            | Disabled by default.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     | OFF    | ON     | OFF              | Master       | INT8     |
| [`default_rate_profile`](Profiles.md)         | Default = profile number                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 | 0      | 2      | 0                | Profile      | UINT8    |
| [`rc_rate`](Profiles.md)                      | Rate value for all RC directions                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         | 0      | 250    | 90               | Rate Profile | UINT8    |
| [`rc_expo`](Profiles.md)                      | Exposition value for all RC directions                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   | 0      | 100    | 65               | Rate Profile | UINT8    |
| `rc_yaw_expo`                                 | Yaw exposition value                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     | 0      | 100    | 0                | Rate Profile | UINT8    |
| [`thr_mid`](Profiles.md)                      | Throttle value when the stick is set to mid-position. Used in the throttle curve calculation.                                                                                                                                                                                                                                                                                                                                                                                                                            | 0      | 100    | 50               | Rate Profile | UINT8    |
| [`thr_expo`](Profiles.md)                     | Throttle exposition value                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                | 0      | 100    | 0                | Rate Profile | UINT8    |
| `roll_rate`                                   | Roll rate value                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          |        | 100    | 40               | Rate Profile | UINT8    |
| [`pitch_rate`](Profiles.md)                   | Pitch rate value                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |        | 100    | 40               | Rate Profile | UINT8    |
| [`yaw_rate`](Profiles.md)                     | Yaw rate value                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           | 0      | 255    | 0                | Rate Profile | UINT8    |
| [`tpa_rate`](Profiles.md)                     | 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.                                                                                                                                                                                                                                                                                                                                                   | 0      | 100    | 0                | Rate Profile | UINT8    |
| [`tpa_breakpoint`](Profiles.md)               | See tpa_rate.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            | 1000   | 2000   | 1500             | Rate Profile | UINT16   |
| [`failsafe_delay`](Failsafe.md)               | Time in deciseconds to wait before activating failsafe when signal is lost. See [Failsafe documentation](Failsafe.md#failsafe_delay).                                                                                                                                                                                                                                                                                                                                                                                    | 0      | 200    | 10               | Master       | UINT8    |
| [`failsafe_off_delay`](Failsafe.md)           | Time in deciseconds to wait before turning off motors when failsafe is activated. See [Failsafe documentation](Failsafe.md#failsafe_off_delay).                                                                                                                                                                                                                                                                                                                                                                          | 0      | 200    | 200              | Master       | UINT8    |
| [`failsafe_throttle`](Failsafe.md)            | Throttle level used for landing when failsafe is enabled. See [Failsafe documentation](Failsafe.md#failsafe_throttle).                                                                                                                                                                                                                                                                                                                                                                                                   | 1000   | 2000   | 1000             | Master       | UINT16   |
| [`failsafe_kill_switch`](Failsafe.md)         | Set to ON to use an AUX channel as a faisafe kill switch.                                                                                                                                                                                                                                                                                                                                                                                                                                                                | OFF    | ON     | OFF              | Master       | UINT8    |
| [`failsafe_throttle_low_delay`](Failsafe.md)  | Activate failsafe when throttle is low and no RX data has been received since this value, in 10th of seconds                                                                                                                                                                                                                                                                                                                                                                                                             | 0      | 300    | 100              | Master       | UINT16   |
| [`failsafe_procedure`](Failsafe.md)           | 0 = Autolanding (default). 1 = Drop.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     | 0      | 1      | 0                | Master       | UINT8    |
| `gimbal_mode`                                 | When feature SERVO_TILT is enabled, this can be either NORMAL or MIXTILT                                                                                                                                                                                                                                                                                                                                                                                                                                                 |        |        | NORMAL           | Profile      | UINT8    |
| `acc_hardware`                                | This is used to suggest which accelerometer driver should load, or to force no accelerometer in case gyro-only flight is needed. Default (0) will attempt to auto-detect among enabled drivers. Otherwise, to force a particular device, set it to 2 for ADXL345, 3 for MPU6050 integrated accelerometer, 4 for MMA8452, 5 for BMA280, 6 for LSM303DLHC, 7 for MPU6000, 8 for MPU6500 or 1 to disable accelerometer alltogether - resulting in gyro-only operation.                                                      | 0      | 9      | 0                | Master       | UINT8    |
| `accz_lpf_cutoff`                             | Cutoff frequency used in the low-pass filtering of accelerometer measurements.                                                                                                                                                                                                                                                                                                                                                                                                                                           | 1      | 20     | 5                | Profile      | FLOAT    |
| `acc_trim_pitch`                              | Accelerometer trim (Pitch)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               | -300   | 300    | 0                | Profile      | INT16    |
| `acc_trim_roll`                               | Accelerometer trim (Roll)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                | -300   | 300    | 0                | Profile      | INT16    |
| `baro_tab_size`                               | Pressure sensor sample count.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            | 0      | 48     | 21               | Profile      | UINT8    |
| `baro_noise_lpf`                              | barometer low-pass filter cut-off frequency in Hz. Ranges from 0 to 1 ; default 0.6                                                                                                                                                                                                                                                                                                                                                                                                                                      | 0      | 1      | 0.6              | Profile      | FLOAT    |
| `baro_cf_vel`                                 | Velocity sensor mix in altitude hold. Determines the influence accelerometer and barometer sensors have in the velocity estimation. Values from 0 to 1; 1 for pure accelerometer altitude, 0 for pure barometer altitude.                                                                                                                                                                                                                                                                                                | 0      | 1      | 0.985            | Profile      | FLOAT    |
| `baro_cf_alt`                                 | Altitude sensor mix in altitude hold. Determines the influence accelerometer and barometer sensors have in the altitude estimation. Values from 0 to 1; 1 for pure accelerometer altitude, 0 for pure barometer altitude.                                                                                                                                                                                                                                                                                                | 0      | 1      | 0.965            | Profile      | FLOAT    |
| `baro_hardware`                               | 0 = Default, use whatever mag hardware is defined for your board type ; 1 = None, 2 = BMP085, 3 = MS5611, 4 = BMP280                                                                                                                                                                                                                                                                                                                                                                                                     | 0      | 4      | 0                | Master       | UINT8    |
| `mag_hardware`                                | 0 = Default, use whatever mag hardware is defined for your board type ; 1 = None, disable mag ; 2 = HMC5883 ; 3 = AK8975 ; 4 = AK8963 (for versions <= 1.7.1: 1 = HMC5883 ; 2 = AK8975 ; 3 = None, disable mag)                                                                                                                                                                                                                                                                                                          | 0      | 4      | 0                | Master       | UINT8    |
| `mag_declination`                             | Current location magnetic declination in dddmm format. For example, -6deg 37min = -637 for Japan. Leading zeros not required. Get your local magnetic declination here: http://magnetic-declination.com/                                                                                                                                                                                                                                                                                                                 | -18000 | 18000  | 0                | Profile      | INT16    |
| [`p_pitch`](PID%20tuning.md)                  | Pitch P parameter                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 40               | Profile      | UINT8    |
| [`i_pitch`](PID%20tuning.md)                  | Pitch I parameter                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 30               | Profile      | UINT8    |
| [`d_pitch`](PID%20tuning.md)                  | Pitch D parameter                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 23               | Profile      | UINT8    |
| [`p_roll` ](PID%20tuning.md)                  | Roll P parameter                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         | 0      | 200    | 40               | Profile      | UINT8    |
| [`i_roll` ](PID%20tuning.md)                  | Roll I parameter                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         | 0      | 200    | 30               | Profile      | UINT8    |
| [`d_roll` ](PID%20tuning.md)                  | Roll D parameter                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         | 0      | 200    | 23               | Profile      | UINT8    |
| [`p_yaw`](PID%20tuning.md)                    | Yaw P parameter                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          | 0      | 200    | 85               | Profile      | UINT8    |
| [`i_yaw`](PID%20tuning.md)                    | Yaw I parameter                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          | 0      | 200    | 45               | Profile      | UINT8    |
| [`d_yaw`](PID%20tuning.md)                    | Yaw D parameter                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          | 0      | 200    | 0                | Profile      | UINT8    |
| [`p_alt`](PID%20tuning.md)                    | Altitude P parameter (Baro / Sonar altitude hold)                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 50               | Profile      | UINT8    |
| [`i_alt`](PID%20tuning.md)                    | Altitude I parameter (Baro / Sonar altitude hold)                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 0                | Profile      | UINT8    |
| [`d_alt`](PID%20tuning.md)                    | Altitude D parameter (Baro / Sonar altitude hold)                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 0                | Profile      | UINT8    |
| [`p_level`](PID%20tuning.md)                  | Level P parameter (Angle / horizon modes)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                | 0      | 200    | 20               | Profile      | UINT8    |
| [`i_level`](PID%20tuning.md)                  | Level I parameter (Angle / horizon modes)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                | 0      | 200    | 10               | Profile      | UINT8    |
| [`d_level`](PID%20tuning.md)                  | Level D parameter (Angle / horizon modes)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                | 0      | 200    | 100              | Profile      | UINT8    |
| [`p_vel`](PID%20tuning.md)                    | Velocity P parameter (Baro / Sonar altitude hold)                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 120              | Profile      | UINT8    |
| [`i_vel`](PID%20tuning.md)                    | Velocity I parameter (Baro / Sonar altitude hold)                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 45               | Profile      | UINT8    |
| [`d_vel`](PID%20tuning.md)                    | Velocity D parameter (Baro / Sonar altitude hold)                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 1                | Profile      | UINT8    |
| `yaw_p_limit`                                 | Limiter for yaw P term. This parameter is only affecting PID controller MW23. To disable set to 500 (actual default).                                                                                                                                                                                                                                                                                                                                                                                                    | 100    | 500    | 500              | Profile      | UINT16   |
| [`dterm_cut_hz`](PID%20tuning.md)             | Lowpass cutoff filter for Dterm for all PID controllers                                                                                                                                                                                                                                                                                                                                                                                                                                                                  | 0      | 500    | 0                | Profile      | UINT16   |
| [`gtune_loP_rll`](Gtune.md)                   | GTune: Low Roll P limit                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  | 10     | 200    | 10               | Profile      | UINT8    |
| [`gtune_loP_ptch`](Gtune.md)                  | GTune: Low Pitch P limit                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 | 10     | 200    | 10               | Profile      | UINT8    |
| [`gtune_loP_yw`](Gtune.md)                    | GTune: Low Yaw P limit                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   | 10     | 200    | 10               | Profile      | UINT8    |
| [`gtune_hiP_rll`](Gtune.md)                   | GTune: High Roll P limit                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 | 0      | 200    | 100              | Profile      | UINT8    |
| [`gtune_hiP_ptch`](Gtune.md)                  | GTune: High Pitch P limit                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                | 0      | 200    | 100              | Profile      | UINT8    |
| [`gtune_hiP_yw`](Gtune.md)                    | GTune: High Yaw P limit                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  | 0      | 200    | 100              | Profile      | UINT8    |
| [`gtune_pwr`](Gtune.md)                       | Strength of each Gtune adjustment                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 10     | 0                | Profile      | UINT8    |
| [`gtune_settle_time`](Gtune.md)               | GTune settling time in milliseconds                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      | 200    |        | 450              | Profile      | UINT16   |
| [`gtune_average_cycles`](Gtune.md)            | Looptime cycles for gyro average calculation. Default = 16.                                                                                                                                                                                                                                                                                                                                                                                                                                                              | 8      | 128    | 16               | Profile      | UINT8    |
| [`blackbox_rate_num`](Blackbox.md)            | 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                                                                                                                                                                                                                                                                                                                                                                 | 1      | 32     | 1                | Master       | UINT8    |
| [`blackbox_rate_denom`](Blackbox.md)          | Blackbox logging rate denominator. See blackbox_rate_num.                                                                                                                                                                                                                                                                                                                                                                                                                                                                | 1      | 32     | 1                | Master       | UINT8    |
| [`blackbox_device`](Blackbox.md)              | SERIAL, SPIFLASH, SDCARD (default)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |        |        | SDCARD           | Master       | UINT8    |
| `magzero_x`                                   | Magnetometer calibration X offset                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | -32768 | 32767  | 0                | Master       | INT16    |
| `magzero_y`                                   | Magnetometer calibration Y offset                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | -32768 | 32767  | 0                | Master       | INT16    |
| `magzero_z`                                   | Magnetometer calibration Z offset                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | -32768 | 32767  | 0                | Master       | INT16    |
| `vtx_band`                                    | Configure the VTX band. Set to zero to use `vtx_freq`. Bands: 1: A, 2: B, 3: E, 4: F, 5: Race.                                                                                                                                                                                                                                                                                                                                                                                                                           | 0      | 5      | 4                | Master       | UINT8    |
| `vtx_channel`                                 | Channel to use within the configured `vtx_band`. Valid values are [1, 8].                                                                                                                                                                                                                                                                                                                                                                                                                                                | 1      | 8      | 1                | Master       | UINT8    |
| `vtx_freq`                                    | Set the VTX frequency using raw MHz. This parameter is ignored unless `vtx_band` is 0.                                                                                                                                                                                                                                                                                                                                                                                                                                   | 0      | 5900   | 5740             | Master       | UINT16   |
| `vtx_halfduplex`                              | Use half duplex UART to communicate with the VTX, using only a TX pin in the FC.                                                                                                                                                                                                                                                                                                                                                                                                                                         | OFF    | ON     | ON               | Master       | UINT8    |
| `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.                                                                                                                          |        |        | OFF              | Master       | UINT8    |
| `vtx_pit_mode_freq`                           | Frequency to use (in MHz) when the VTX is in pit mode.                                                                                                                                                                                                                                                                                                                                                                                                                                                                   | 0      | 5900   | 0                | Master       | UINT16   |
| `vtx_power`                                   | VTX RF power level to use. The exact number of mw depends on the VTX hardware.                                                                                                                                                                                                                                                                                                                                                                                                                                           | 0      | 3      | 1                | Master       | UINT8    |