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CLI Reference

Auto-generated — do not edit manually. Source: src/main/interface/settings.c, src/main/interface/cli.c | Generated: 2026-08-25 | Commit: 656865145 | Firmware: 0.4.3 | MSP: 0.1.54

Settings parameters (valueTable[]) and CLI commands that persist config through their own dedicated table instead (cmdTable[], PG-backed) are both covered here.

Table of Contents

Gyro Config

Parameter Type Scope Range / Values Requires
align_gyro uint8 master DEFAULT, CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP, CW45, CW135, CW225, CW315, CW45FLIP, CW135FLIP, CW225FLIP, CW315FLIP
gyro_hardware_lpf uint8 master NORMAL, OPTION1, OPTION2, EXPERIMENTAL, EXPERIMENTAL, 1KHZ_SAMPLING
gyro_32khz_hardware_lpf uint8 master NORMAL, EXPERIMENTAL USE_32K_CAPABLE_GYRO
gyro_high_range uint8 master OFF, ON USE_GYRO_SPI_ICM20649
gyro_sync_denom uint8 master 1 – 32
gyro_lowpass_type uint8 master PT1, SVF, PT2, PT3, PT4
gyro_lowpass_hz_roll uint16 master 0 – 16000
gyro_lowpass_hz_pitch uint16 master 0 – 16000
gyro_lowpass_hz_yaw uint16 master 0 – 16000
gyro_lowpass2_type uint8 master PT1, SVF, PT2, PT3, PT4 USE_GYRO_LPF2
gyro_lowpass2_hz_roll uint16 master 0 – 16000 USE_GYRO_LPF2
gyro_lowpass2_hz_pitch uint16 master 0 – 16000 USE_GYRO_LPF2
gyro_lowpass2_hz_yaw uint16 master 0 – 16000 USE_GYRO_LPF2
gyro_abg_alpha uint16 master 0 – 1000
gyro_abg_boost uint16 master 0 – 2000
gyro_abg_half_life uint8 master 0 – 250
gyro_notch1_hz uint16 master 0 – 16000
gyro_notch1_cutoff uint16 master 0 – 16000
gyro_notch2_hz uint16 master 0 – 16000
gyro_notch2_cutoff uint16 master 0 – 16000
gyro_calib_duration uint16 master 50 – 3000
gyro_calib_noise_limit uint8 master 0 – 200
gyro_offset_yaw int16 master -1000 – 1000
imuf_rate uint8 master 32K, 16K, 8K, 4K, 2K, 1K USE_GYRO_IMUF9001
imuf_roll_q uint16 master 100 – 16000 USE_GYRO_IMUF9001
imuf_pitch_q uint16 master 100 – 16000 USE_GYRO_IMUF9001
imuf_yaw_q uint16 master 100 – 16000 USE_GYRO_IMUF9001
imuf_w uint16 master 3 – 512 USE_GYRO_IMUF9001
imuf_pitch_lpf_cutoff_hz uint16 master 0 – 450 USE_GYRO_IMUF9001
imuf_roll_lpf_cutoff_hz uint16 master 0 – 450 USE_GYRO_IMUF9001
imuf_yaw_lpf_cutoff_hz uint16 master 0 – 450 USE_GYRO_IMUF9001
imuf_acc_lpf_cutoff_hz uint16 master 30 – 180 USE_GYRO_IMUF9001
imuf_ptn_order uint8 master 1 – 4 USE_GYRO_IMUF9001
imuf_roll_q uint16 master 0 – 16000 !USE_GYRO_IMUF9001
imuf_pitch_q uint16 master 0 – 16000 !USE_GYRO_IMUF9001
imuf_yaw_q uint16 master 0 – 16000 !USE_GYRO_IMUF9001
imuf_w uint16 master 0 – 512 !USE_GYRO_IMUF9001
gyro_overflow_detect uint8 master OFF, YAW, ALL USE_GYRO_OVERFLOW_CHECK
yaw_spin_recovery uint8 master OFF, ON, AUTO USE_YAW_SPIN_RECOVERY
yaw_spin_threshold uint16 master YAW_SPIN_RECOVERY_THRESHOLD_MIN – YAW_SPIN_RECOVERY_THRESHOLD_MAX USE_YAW_SPIN_RECOVERY
gyro_use_32khz uint8 master OFF, ON USE_32K_CAPABLE_GYRO, USE_GYRO_IMUF9001
gyro_to_use uint8 master FIRST, SECOND, BOTH USE_DUAL_GYRO
dynamic_gyro_notch_axis uint8 master RP, RPY USE_GYRO_DATA_ANALYSE
dynamic_gyro_notch_q uint16 master 1 – 1000 USE_GYRO_DATA_ANALYSE
dynamic_gyro_notch_count uint8 master 1 – 5 USE_GYRO_DATA_ANALYSE
dynamic_gyro_notch_min_hz uint16 master 30 – 1000 USE_GYRO_DATA_ANALYSE
dynamic_gyro_notch_max_hz uint16 master 400 – 1000 USE_GYRO_DATA_ANALYSE
smith_predict_enabled uint8 master OFF, ON USE_SMITH_PREDICTOR
smith_predict_str uint8 master 0 – 100 USE_SMITH_PREDICTOR
smith_predict_delay uint8 master 0 – 120 USE_SMITH_PREDICTOR
smith_predict_filt_hz uint8 master 1 – 250 USE_SMITH_PREDICTOR

Accelerometer Config

Parameter Type Scope Range / Values Requires
align_acc uint8 master DEFAULT, CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP, CW45, CW135, CW225, CW315, CW45FLIP, CW135FLIP, CW225FLIP, CW315FLIP
acc_hardware uint8 master AUTO, NONE, ADXL345, MPU6050, MMA8452, BMA280, LSM303DLHC, MPU6000, MPU6500, MPU9250, ICM20601, ICM20602, ICM20608G, ICM20649, ICM20689, ICM42605, ICM42688P, BMI160, BMI270, ACC_IMUF9001, FAKE
acc_high_range uint8 master OFF, ON USE_GYRO_SPI_ICM20649
acc_lpf_hz uint16 master 0 – 400
acc_trim_pitch int16 master -300 – 300
acc_trim_roll int16 master -300 – 300
acc_calibration int16 master array[XYZ_AXIS_COUNT]

Compass Config

Parameter Type Scope Range / Values Requires
align_mag uint8 master DEFAULT, CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP, CW45, CW135, CW225, CW315, CW45FLIP, CW135FLIP, CW225FLIP, CW315FLIP USE_MAG
mag_bustype uint8 master NONE, I2C, SPI, SLAVE USE_MAG
mag_i2c_device uint8 master 0 – I2CDEV_COUNT USE_MAG
mag_i2c_address uint8 master 0 – I2C_ADDR7_MAX USE_MAG
mag_spi_device uint8 master 0 – SPIDEV_COUNT USE_MAG
mag_hardware uint8 master AUTO, NONE, HMC5883, AK8975, AK8963, QMC5883 USE_MAG
mag_declination int16 master -18000 – 18000 USE_MAG
mag_calibration int16 master array[XYZ_AXIS_COUNT] USE_MAG

Barometer Config

Parameter Type Scope Range / Values Requires
baro_bustype uint8 master NONE, I2C, SPI, SLAVE USE_BARO
baro_spi_device uint8 master 0 – 5 USE_BARO
baro_i2c_device uint8 master 0 – 5 USE_BARO
baro_i2c_address uint8 master 0 – I2C_ADDR7_MAX USE_BARO
baro_hardware uint8 master AUTO, NONE, BMP085, MS5611, BMP280, LPS, QMP6988 USE_BARO
baro_tab_size uint8 master 1 – BARO_SAMPLE_COUNT_MAX USE_BARO
baro_noise_lpf uint16 master 0 – 1000 USE_BARO
baro_cf_vel uint16 master 0 – 1000 USE_BARO
baro_cf_alt uint16 master 0 – 1000 USE_BARO

RX Config

Parameter Type Scope Range / Values Requires
mid_rc uint16 master 1200 – 1700
min_check uint16 master PWM_PULSE_MIN – PWM_PULSE_MAX
max_check uint16 master PWM_PULSE_MIN – PWM_PULSE_MAX
rssi_channel int8 master 0 – MAX_SUPPORTED_RC_CHANNEL_COUNT
rssi_src_frame_errors int8 master OFF, ON
rssi_scale uint8 master RSSI_SCALE_MIN – RSSI_SCALE_MAX
rssi_offset int8 master -100 – 100
rssi_invert int8 master OFF, ON
rc_interp uint8 master OFF, PRESET, AUTO, MANUAL
rc_interp_ch uint8 master RP, RPY, RPYT, T, RPT
rc_interp_int uint8 master 1 – 50
rc_smoothing_type uint8 master INTERPOLATION, FILTER USE_RC_SMOOTHING_FILTER
rc_smoothing_input_hz uint8 master 0 – UINT8_MAX USE_RC_SMOOTHING_FILTER
rc_smoothing_debug_axis uint8 master ROLL, PITCH, YAW, THROTTLE USE_RC_SMOOTHING_FILTER
rc_smoothing_input_type uint8 master PT1, BIQUAD, PT2, PT3, PT4 USE_RC_SMOOTHING_FILTER
fpv_mix_degrees uint8 master 0 – 90
cinematic_yaw uint8 master OFF, ON
max_aux_channels uint8 master 0 – MAX_AUX_CHANNEL_COUNT
serialrx_provider uint8 master SPEK1024, SPEK2048, SBUS, SUMD, SUMH, XB-B, XB-B-RJ01, IBUS, JETIEXBUS, CRSF, SRXL, CUSTOM, FPORT, GHST USE_SERIAL_RX
serialrx_inverted uint8 master OFF, ON USE_SERIAL_RX
spektrum_sat_bind uint8 master SPEKTRUM_SAT_BIND_DISABLED – SPEKTRUM_SAT_BIND_MAX USE_SPEKTRUM_BIND
spektrum_sat_bind_autoreset uint8 master OFF, ON USE_SPEKTRUM_BIND
sbus_baud_fast uint8 master OFF, ON USE_SERIALRX_SBUS
airmode_start_throttle_percent uint8 master 0 – 100
rx_min_usec uint16 master PWM_PULSE_MIN – PWM_PULSE_MAX
rx_max_usec uint16 master PWM_PULSE_MIN – PWM_PULSE_MAX
serialrx_halfduplex uint8 master OFF, ON
show_altered_rc uint8 master OFF, ON

RX SPI Config

Parameter Type Scope Range / Values Requires
rx_spi_protocol uint8 master V202_250K, V202_1M, SYMA_X, SYMA_X5C, CX10, CX10A, H8_3D, INAV, FRSKY_D, FRSKY_X, FLYSKY, FLYSKY_2A, KN, SFHSS, REDPINE USE_RX_SPI
rx_spi_bus uint8 master 0 – SPIDEV_COUNT USE_RX_SPI

ADC Config

Parameter Type Scope Range / Values Requires
adc_device int8 master 0 – ADCDEV_COUNT USE_ADC

PWM Config

Parameter Type Scope Range / Values Requires
input_filtering_mode int8 master OFF, ON USE_PWM

Blackbox Config

Parameter Type Scope Range / Values Requires
blackbox_p_ratio uint16 master 0 – INT16_MAX USE_BLACKBOX
blackbox_device uint8 master NONE, SPIFLASH, SDCARD, SERIAL USE_BLACKBOX
blackbox_record_acc uint8 master OFF, ON USE_BLACKBOX
blackbox_mode uint8 master NORMAL, MOTOR_TEST, ALWAYS USE_BLACKBOX
blackbox_disable_pids uint32 master bitflag USE_BLACKBOX
blackbox_disable_rc uint32 master bitflag USE_BLACKBOX
blackbox_disable_setpoint uint32 master bitflag USE_BLACKBOX
blackbox_disable_bat uint32 master bitflag USE_BLACKBOX
blackbox_disable_mag uint32 master bitflag USE_BLACKBOX, USE_MAG
blackbox_disable_alt uint32 master bitflag USE_BLACKBOX, USE_BARO, USE_RANGEFINDER
blackbox_disable_rssi uint32 master bitflag USE_BLACKBOX
blackbox_disable_gyro uint32 master bitflag USE_BLACKBOX
blackbox_disable_acc uint32 master bitflag USE_BLACKBOX
blackbox_disable_debug uint32 master bitflag USE_BLACKBOX
blackbox_disable_motors uint32 master bitflag USE_BLACKBOX
blackbox_disable_gps uint32 master bitflag USE_BLACKBOX, USE_GPS
blackbox_disable_gyrounfilt uint32 master bitflag USE_BLACKBOX

Motor Config

Parameter Type Scope Range / Values Requires
min_throttle uint16 master PWM_PULSE_MIN – PWM_PULSE_MAX
max_throttle uint16 master PWM_PULSE_MIN – PWM_PULSE_MAX
min_command uint16 master PWM_PULSE_MIN – PWM_PULSE_MAX
dshot_idle_value uint16 master 0 – 2000 USE_DSHOT
dshot_burst uint8 master OFF, ON USE_DSHOT, USE_DSHOT_DMAR
use_unsynced_pwm uint8 master OFF, ON
motor_pwm_protocol uint8 master OFF, ONESHOT125, ONESHOT42, MULTISHOT, BRUSHED, DSHOT150, DSHOT300, DSHOT600, DSHOT1200, DSHOT2400, DSHOT4800, PROSHOT1000
motor_pwm_rate uint16 master 200 – 32000
motor_pwm_inversion uint8 master OFF, ON
motor_poles uint8 master 4 – UINT8_MAX

Throttle Correction Config

Parameter Type Scope Range / Values
thr_corr_value uint8 master 0 – 150
thr_corr_angle uint16 master 1 – 900

Failsafe Config

Parameter Type Scope Range / Values
failsafe_delay uint8 master 0 – 200
failsafe_off_delay uint8 master 0 – 200
failsafe_throttle uint16 master PWM_PULSE_MIN – PWM_PULSE_MAX
failsafe_switch_mode uint8 master STAGE1, KILL, STAGE2
failsafe_throttle_low_delay uint16 master 0 – 300
failsafe_procedure uint8 master AUTO-LAND, DROP, GPS-RESCUE

Board Alignment

Parameter Type Scope Range / Values
align_board_roll int16 master -180 – 360
align_board_pitch int16 master -180 – 360
align_board_yaw int16 master -180 – 360

Gimbal Config

Parameter Type Scope Range / Values Requires
gimbal_mode uint8 master NORMAL, MIXTILT USE_SERVOS

Battery Config

Parameter Type Scope Range / Values
bat_capacity uint16 master 0 – 20000
vbat_max_cell_voltage uint8 master VBAT_CELL_VOTAGE_RANGE_MIN – VBAT_CELL_VOTAGE_RANGE_MAX
vbat_full_cell_voltage uint8 master VBAT_CELL_VOTAGE_RANGE_MIN – VBAT_CELL_VOTAGE_RANGE_MAX
vbat_min_cell_voltage uint8 master VBAT_CELL_VOTAGE_RANGE_MIN – VBAT_CELL_VOTAGE_RANGE_MAX
vbat_warning_cell_voltage uint8 master VBAT_CELL_VOTAGE_RANGE_MIN – VBAT_CELL_VOTAGE_RANGE_MAX
vbat_hysteresis uint8 master 0 – 250
current_meter uint8 master NONE, ADC, VIRTUAL, ESC, MSP
battery_meter uint8 master NONE, ADC, ESC
vbat_detect_cell_voltage uint8 master VBAT_CELL_VOTAGE_RANGE_MIN – VBAT_CELL_VOTAGE_RANGE_MAX
use_vbat_alerts uint8 master OFF, ON
use_cbat_alerts uint8 master OFF, ON
cbat_alert_percent uint8 master 0 – 100
vbat_cutoff_percent uint8 master 0 – 100
vbat_lpf_period uint8 master 0 – UINT8_MAX
ibat_lpf_period uint8 master 0 – UINT8_MAX
force_battery_cell_count uint8 master 0 – 24

Voltage Sensor ADC Config

Parameter Type Scope Range / Values
vbat_scale uint8 master VBAT_SCALE_MIN – VBAT_SCALE_MAX
vbat_divider uint8 master VBAT_DIVIDER_MIN – VBAT_DIVIDER_MAX
vbat_multiplier uint8 master VBAT_MULTIPLIER_MIN – VBAT_MULTIPLIER_MAX

Current Sensor ADC Config

Parameter Type Scope Range / Values
ibata_scale int16 master -16000 – 16000
ibata_offset int16 master -32000 – 32000

Current Sensor Virtual Config

Parameter Type Scope Range / Values Requires
ibatv_scale int16 master -16000 – 16000 USE_VIRTUAL_CURRENT_METER
ibatv_offset uint16 master 0 – 16000 USE_VIRTUAL_CURRENT_METER

Beeper Dev Config

Parameter Type Scope Range / Values Requires
beeper_inversion uint8 master OFF, ON USE_BEEPER
beeper_od uint8 master OFF, ON USE_BEEPER
beeper_frequency int16 master 0 – 16000 USE_BEEPER

Beeper Config

Parameter Type Scope Range / Values Requires
beeper_dshot_beacon_tone uint8 master 1 – DSHOT_CMD_BEACON5 USE_BEEPER, USE_DSHOT

Mixer Config

Parameter Type Scope Range / Values
yaw_motors_reversed int8 master OFF, ON
crashflip_motor_percent uint8 master 0 – 100
crashflip_power_percent uint8 master 25 – 100

Motor 3D Config

Parameter Type Scope Range / Values
3d_deadband_low uint16 master PWM_PULSE_MIN – PWM_RANGE_MIDDLE
3d_deadband_high uint16 master PWM_RANGE_MIDDLE – PWM_PULSE_MAX
3d_neutral uint16 master PWM_PULSE_MIN – PWM_PULSE_MAX
3d_deadband_throttle uint16 master 1 – 100
3d_limit_low uint16 master PWM_PULSE_MIN – PWM_RANGE_MIDDLE
3d_limit_high uint16 master PWM_RANGE_MIDDLE – PWM_PULSE_MAX
3d_switched_mode uint8 master OFF, ON

Servo Config

Parameter Type Scope Range / Values Requires
servo_center_pulse uint16 master PWM_PULSE_MIN – PWM_PULSE_MAX USE_SERVOS
servo_pwm_rate uint16 master 50 – 498 USE_SERVOS
servo_lowpass_hz uint16 master 0 – 400 USE_SERVOS
tri_unarmed_servo int8 master OFF, ON USE_SERVOS
channel_forwarding_start uint8 master AUX1 – MAX_SUPPORTED_RC_CHANNEL_COUNT USE_SERVOS

Control Rate Profiles

Parameter Type Scope Range / Values
thr_mid uint8 rate 0 – 100
thr_expo uint8 rate 0 – 100
rates_type uint8 rate BETAFLIGHT, RACEFLIGHT, KISS, ACTUAL
roll_rc_rate uint8 rate 0 – CONTROL_RATE_CONFIG_RC_RATES_MAX
pitch_rc_rate uint8 rate 0 – CONTROL_RATE_CONFIG_RC_RATES_MAX
yaw_rc_rate uint8 rate 0 – CONTROL_RATE_CONFIG_RC_RATES_MAX
roll_expo uint8 rate 0 – CONTROL_RATE_CONFIG_RC_EXPO_MAX
pitch_expo uint8 rate 0 – CONTROL_RATE_CONFIG_RC_EXPO_MAX
yaw_expo uint8 rate 0 – CONTROL_RATE_CONFIG_RC_EXPO_MAX
roll_srate uint8 rate 0 – CONTROL_RATE_CONFIG_RATE_MAX
pitch_srate uint8 rate 0 – CONTROL_RATE_CONFIG_RATE_MAX
yaw_srate uint8 rate 0 – CONTROL_RATE_CONFIG_RATE_MAX
das_yaw_with_roll_input uint8 rate 0 – 100
das_roll_with_yaw_input uint8 rate 0 – 100
roll_pitch_mag_expo uint8 rate 0 – 250
rate_center_sensitivity uint8 rate 25 – 175
rate_end_sensitivity uint8 rate 25 – 175
rate_center_correction uint8 rate 10 – 95
rate_end_correction uint8 rate 10 – 95
rate_center_weight uint8 rate 0 – 95
rate_end_weight uint8 rate 0 – 95
tpa_rate_p uint8 rate 0 – CONTROL_RATE_CONFIG_TPA_MAX
tpa_rate_i uint8 rate 0 – CONTROL_RATE_CONFIG_TPA_MAX
tpa_rate_d uint8 rate 0 – CONTROL_RATE_CONFIG_TPA_MAX
tpa_breakpoint uint16 rate PWM_PULSE_MIN – PWM_PULSE_MAX
throttle_limit_type uint8 rate OFF, SCALE, CLIP
throttle_limit_percent uint8 rate 25 – 100
vbat_comp_type uint8 rate OFF, BOOST, LIMIT, BOTH
vbat_comp_ref uint8 rate VBAT_CELL_VOTAGE_RANGE_MIN – VBAT_CELL_VOTAGE_RANGE_MAX

Serial Config

Parameter Type Scope Range / Values
reboot_character uint8 master 48 – 126
serial_update_rate_hz uint16 master 100 – 2000

IMU Config

Parameter Type Scope Range / Values
accxy_deadband uint8 master 0 – 100
accz_deadband uint8 master 0 – 100
acc_unarmedcal uint8 master OFF, ON
imu_dcm_kp uint16 master 0 – 32000
imu_dcm_ki uint16 master 0 – 32000
small_angle uint8 master 0 – 180

Arming Config

Parameter Type Scope Range / Values
auto_disarm_delay uint8 master 0 – 60
gyro_cal_on_first_arm uint8 master OFF, ON
prearm_allow_rearm uint8 master OFF, ON
use_stick_arming int8 master OFF, ON

GPS Config

Parameter Type Scope Range / Values Requires
gps_provider uint8 master NMEA, UBLOX USE_GPS
gps_sbas_mode uint8 master AUTO, EGNOS, WAAS, MSAS, GAGAN USE_GPS
gps_auto_config uint8 master OFF, ON USE_GPS
gps_auto_baud uint8 master OFF, ON USE_GPS
gps_ublox_use_galileo uint8 master OFF, ON USE_GPS

GPS Rescue

Parameter Type Scope Range / Values Requires
gps_rescue_angle uint16 master 0 – 200 USE_GPS, USE_GPS_RESCUE
gps_rescue_initial_alt uint16 master 20 – 100 USE_GPS, USE_GPS_RESCUE
gps_rescue_descent_dist uint16 master 30 – 500 USE_GPS, USE_GPS_RESCUE
gps_rescue_ground_speed uint16 master 30 – 3000 USE_GPS, USE_GPS_RESCUE
gps_rescue_throttle_p uint16 master 0 – 500 USE_GPS, USE_GPS_RESCUE
gps_rescue_throttle_i uint16 master 0 – 500 USE_GPS, USE_GPS_RESCUE
gps_rescue_throttle_d uint16 master 0 – 500 USE_GPS, USE_GPS_RESCUE
gps_rescue_velocity_p uint16 master 0 – 500 USE_GPS, USE_GPS_RESCUE
gps_rescue_velocity_i uint16 master 0 – 500 USE_GPS, USE_GPS_RESCUE
gps_rescue_velocity_d uint16 master 0 – 500 USE_GPS, USE_GPS_RESCUE
gps_rescue_yaw_p uint16 master 0 – 500 USE_GPS, USE_GPS_RESCUE
gps_rescue_throttle_min uint16 master 1000 – 2000 USE_GPS, USE_GPS_RESCUE
gps_rescue_throttle_max uint16 master 1000 – 2000 USE_GPS, USE_GPS_RESCUE
gps_rescue_throttle_hover uint16 master 1000 – 2000 USE_GPS, USE_GPS_RESCUE
gps_rescue_sanity_checks uint8 master RESCUE_SANITY_OFF, RESCUE_SANITY_ON, RESCUE_SANITY_FS_ONLY USE_GPS, USE_GPS_RESCUE
gps_rescue_min_sats uint8 master 0 – 50 USE_GPS, USE_GPS_RESCUE

Position Config

Parameter Type Scope Range / Values Requires
altitude_limit uint16 master 0 – 10000 USE_BARO, USE_GPS

RC Controls Config

Parameter Type Scope Range / Values
deadband uint8 master 0 – 32
yaw_deadband uint8 master 0 – 100
yaw_control_reversed int8 master OFF, ON

PID Config

Parameter Type Scope Range / Values Requires
pid_process_denom uint8 master 1 – MAX_PID_PROCESS_DENOM
runaway_takeoff_prevention uint8 master OFF, ON USE_RUNAWAY_TAKEOFF

PID Profile

Parameter Type Scope Range / Values Requires
dterm_dyn_notch_q uint16 profile 1 – 1000 USE_GYRO_DATA_ANALYSE
dterm_abg_alpha uint16 profile 0 – 1000
dterm_abg_boost uint16 profile 0 – 2000
dterm_abg_half_life uint8 profile 0 – 250
dterm_lowpass_type uint8 profile PT1, SVF, PT2, PT3, PT4
dterm_lowpass_hz_roll uint16 profile 0 – 16000
dterm_lowpass_hz_pitch uint16 profile 0 – 16000
dterm_lowpass_hz_yaw uint16 profile 0 – 16000
dterm_lowpass2_type uint8 profile PT1, SVF, PT2, PT3, PT4
dterm_lowpass2_hz_roll uint16 profile 0 – 16000
dterm_lowpass2_hz_pitch uint16 profile 0 – 16000
dterm_lowpass2_hz_yaw uint16 profile 0 – 16000
pid_at_min_throttle uint8 profile OFF, ON
spa_roll_p uint8 profile 0 – 250
spa_roll_i uint8 profile 0 – 250
spa_roll_d uint8 profile 0 – 250
spa_pitch_p uint8 profile 0 – 250
spa_pitch_i uint8 profile 0 – 250
spa_pitch_d uint8 profile 0 – 250
spa_yaw_p uint8 profile 0 – 250
spa_yaw_i uint8 profile 0 – 250
spa_yaw_d uint8 profile 0 – 250
acc_limit_yaw uint16 profile 0 – 500
acc_limit uint16 profile 0 – 500
crash_dthreshold uint16 profile 0 – 2000
crash_gthreshold uint16 profile 0 – 2000
crash_setpoint_threshold uint16 profile 0 – 2000
crash_time uint16 profile 0 – 5000
crash_delay uint16 profile 0 – 500
crash_recovery_angle uint8 profile 0 – 30
crash_recovery_rate uint8 profile 0 – 255
crash_limit_yaw uint16 profile 0 – 1000
crash_recovery uint8 profile OFF, ON, BEEP
iterm_rotation uint8 profile OFF, ON
iterm_relax_cutoff uint8 profile 0 – 100 USE_ITERM_RELAX
iterm_relax_cutoff_yaw uint8 profile 0 – 100 USE_ITERM_RELAX
iterm_relax_threshold uint8 profile 10 – 100 USE_ITERM_RELAX
iterm_relax_threshold_yaw uint8 profile 10 – 100 USE_ITERM_RELAX
iterm_windup uint8 profile 0 – 100
iterm_limit uint16 profile 0 – 500
pidsum_limit uint16 profile PIDSUM_LIMIT_MIN – PIDSUM_LIMIT_MAX
pidsum_limit_yaw uint16 profile PIDSUM_LIMIT_MIN – PIDSUM_LIMIT_MAX
throttle_boost uint8 profile 0 – 100 USE_THROTTLE_BOOST
throttle_boost_cutoff uint8 profile 5 – 50 USE_THROTTLE_BOOST
feathered_pids uint8 profile 0 – 100
i_decay uint8 profile 1 – 10
i_decay_cutoff uint8 profile 1 – 250
emu_boost uint16 profile 0 – 2000
emu_boost_yaw uint16 profile 0 – 2000
emu_boost_limit uint8 profile 0 – 250
emu_boost_limit_yaw uint8 profile 0 – 250
dterm_boost uint16 profile 0 – 2000
dterm_boost_limit uint8 profile 0 – 250
emu_gravity uint8 profile 0 – 255
axis_lock_multiplier uint8 profile 0 – 10
axis_lock_hz uint8 profile 1 – 50
p_pitch uint8 profile 0 – 200
i_pitch uint8 profile 0 – 200
d_pitch uint8 profile 0 – 200
p_roll uint8 profile 0 – 200
i_roll uint8 profile 0 – 200
d_roll uint8 profile 0 – 200
p_yaw uint8 profile 0 – 200
i_yaw uint8 profile 0 – 200
d_yaw uint8 profile 0 – 200
df_yaw uint8 profile 0 – 200
p_angle_low uint8 profile 0 – 200
d_angle_low uint8 profile 0 – 200
p_angle_high uint8 profile 0 – 200
d_angle_high uint8 profile 0 – 200
f_angle uint16 profile 0 – 2000
df_angle_low uint8 profile 0 – 200
df_angle_high uint8 profile 0 – 200
level_limit uint8 profile 10 – 90
angle_expo uint8 profile 0 – 100
angle_filter uint8 profile 0 – 255
horizon_transition uint8 profile 0 – 200
horizon_tilt_effect uint8 profile 0 – 180
horizon_strength uint8 profile 0 – 200
motor_output_limit uint8 profile MOTOR_OUTPUT_LIMIT_PERCENT_MIN – MOTOR_OUTPUT_LIMIT_PERCENT_MAX
auto_profile_cell_count int8 profile AUTO_PROFILE_CELL_COUNT_CHANGE – MAX_AUTO_DETECT_CELL_COUNT
linear_thrust_low_output uint8 profile 0 – 100
linear_thrust_high_output uint8 profile 0 – 100
linear_throttle uint8 profile OFF, ON
mixer_impl uint8 profile LEGACY, SMOOTH, 2PASS
mixer_laziness uint8 profile OFF, ON
mixer_yaw_throttle_comp uint8 profile OFF, ON

Telemetry Config

Parameter Type Scope Range / Values Requires
tlm_inverted uint8 master OFF, ON USE_TELEMETRY
tlm_halfduplex uint8 master OFF, ON USE_TELEMETRY
frsky_default_lat int16 master -9000 – 9000 USE_TELEMETRY, USE_TELEMETRY_FRSKY_HUB, USE_GPS
frsky_default_long int16 master -18000 – 18000 USE_TELEMETRY, USE_TELEMETRY_FRSKY_HUB, USE_GPS
frsky_gps_format uint8 master 0 – FRSKY_FORMAT_NMEA USE_TELEMETRY, USE_TELEMETRY_FRSKY_HUB, USE_GPS
frsky_unit uint8 master IMPERIAL, METRIC USE_TELEMETRY, USE_TELEMETRY_FRSKY_HUB, USE_GPS
frsky_vfas_precision uint8 master FRSKY_VFAS_PRECISION_LOW – FRSKY_VFAS_PRECISION_HIGH USE_TELEMETRY, USE_TELEMETRY_FRSKY_HUB
hott_alarm_int uint8 master 0 – 120 USE_TELEMETRY
pid_in_tlm uint8 master OFF, ON USE_TELEMETRY
report_cell_voltage uint8 master OFF, ON USE_TELEMETRY
ibus_sensor uint8 master array[IBUS_SENSOR_COUNT] USE_TELEMETRY, USE_TELEMETRY_IBUS
smartport_use_extra_sensors uint8 master OFF, ON USE_TELEMETRY, USE_TELEMETRY_SMARTPORT

LED Strip Config

Parameter Type Scope Range / Values Requires
ledstrip_visual_beeper uint8 master OFF, ON USE_LED_STRIP
ledstrip_grb_rgb uint8 master GRB, RGB USE_LED_STRIP

SDCARD Config

Parameter Type Scope Range / Values Requires
sdcard_dma uint8 master OFF, ON USE_SDCARD

SDIO Config

Parameter Type Scope Range / Values Requires
sdio_clk_bypass uint8 master OFF, ON USE_SDCARD_SDIO
sdio_use_cache uint8 master OFF, ON USE_SDCARD_SDIO

OSD Config

Parameter Type Scope Range / Values Requires
osd_units uint8 master IMPERIAL, METRIC USE_OSD
osd_warn_arming_disable uint16 master bitflag USE_OSD
osd_warn_batt_not_full uint16 master bitflag USE_OSD
osd_warn_batt_warning uint16 master bitflag USE_OSD
osd_warn_batt_critical uint16 master bitflag USE_OSD
osd_warn_visual_beeper uint16 master bitflag USE_OSD
osd_warn_crash_flip uint16 master bitflag USE_OSD
osd_warn_esc_fail uint16 master bitflag USE_OSD
osd_task_frequency uint16 master OSD_TASK_FREQUENCY_MIN – OSD_TASK_FREQUENCY_MAX USE_OSD
osd_warn_core_temp uint16 master bitflag USE_OSD, USE_ADC_INTERNAL
osd_warn_rc_smoothing uint16 master bitflag USE_OSD
osd_warn_dji uint16 master bitflag USE_OSD
osd_lq_format uint8 master SCALED, MODE, FREQ, SIMPLE, TBS USE_OSD
osd_lq_alarm uint16 master 0 – 300 USE_OSD
osd_rssi_alarm uint8 master 0 – 100 USE_OSD
osd_cap_alarm uint16 master 0 – 20000 USE_OSD
osd_alt_alarm uint16 master 0 – 10000 USE_OSD
osd_distance_alarm uint16 master 0 – 10000 USE_OSD
osd_esc_temp_alarm int8 master INT8_MIN – INT8_MAX USE_OSD
osd_esc_rpm_alarm int16 master ESC_RPM_ALARM_OFF – INT16_MAX USE_OSD
osd_esc_current_alarm int16 master ESC_CURRENT_ALARM_OFF – INT16_MAX USE_OSD
osd_core_temp_alarm uint8 master 0 – UINT8_MAX USE_OSD, USE_ADC_INTERNAL
osd_stat_show_cell_value uint8 master OFF, ON USE_OSD
osd_ah_max_pit uint8 master 0 – 90 USE_OSD
osd_ah_max_rol uint8 master 0 – 90 USE_OSD
osd_logo_on_arming uint8 master OFF, ON, FIRST_ARMING USE_OSD
osd_logo_on_arming_duration uint8 master 5 – 50 USE_OSD
osd_tim1 uint16 master 0 – INT16_MAX USE_OSD
osd_tim2 uint16 master 0 – INT16_MAX USE_OSD
osd_vbat_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_rssi_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_crsf_tx_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_crsf_snr_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_crsf_rssi_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_tim_1_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_tim_2_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_remaining_time_estimate_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_flymode_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_g_force_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_throttle_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_vtx_channel_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_crosshairs_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_ah_sbar_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_ah_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_current_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_mah_drawn_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_craft_name_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_gps_speed_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_gps_lon_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_gps_lat_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_gps_sats_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_plus_code_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
plus_code_digits uint8 master 10 – 13 USE_OSD
plus_code_short uint8 master OFF, ON USE_OSD
osd_home_dir_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_home_dist_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_compass_bar_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_altitude_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_pid_roll_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_pid_pitch_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_pid_yaw_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_debug_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_power_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_pidrate_profile_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_warnings_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_avg_cell_voltage_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_pit_ang_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_rol_ang_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_battery_usage_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_disarmed_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_nheading_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_nvario_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_esc_tmp_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_esc_rpm_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_rtc_date_time_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_adjustment_range_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_mah_percent_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD
osd_core_temp_pos uint16 master 0 – OSD_POSCFG_MAX USE_OSD, USE_ADC_INTERNAL
osd_stat_rtc_date_time uint32 master bitflag USE_OSD
osd_stat_tim_1 uint32 master bitflag USE_OSD
osd_stat_tim_2 uint32 master bitflag USE_OSD
osd_stat_max_spd uint32 master bitflag USE_OSD
osd_stat_max_dist uint32 master bitflag USE_OSD
osd_stat_min_batt uint32 master bitflag USE_OSD
osd_stat_endbatt uint32 master bitflag USE_OSD
osd_stat_battery uint32 master bitflag USE_OSD
osd_stat_min_rssi uint32 master bitflag USE_OSD
osd_stat_max_curr uint32 master bitflag USE_OSD
osd_stat_used_mah uint32 master bitflag USE_OSD
osd_stat_max_alt uint32 master bitflag USE_OSD
osd_stat_bbox uint32 master bitflag USE_OSD
osd_stat_bb_no uint32 master bitflag USE_OSD

System Config

Parameter Type Scope Range / Values Requires
task_statistics int8 master OFF, ON
debug_mode uint8 master NONE, CYCLETIME, BATTERY, GYRO_FILTERED, ACCELEROMETER, PIDLOOP, GYRO_SCALED, RC_INTERPOLATION, ANGLERATE, ESC_SENSOR, SCHEDULER, STACK, ESC_SENSOR_RPM, ESC_SENSOR_TMP, ALTITUDE, FFT, FFT_TIME, FFT_FREQ, RX_FRSKY_SPI, RX_SFHSS_SPI, GYRO_RAW, DUAL_GYRO, DUAL_GYRO_RAW, DUAL_GYRO_COMBINE, DUAL_GYRO_DIFF, MAX7456_SIGNAL, MAX7456_SPICLOCK, SBUS, FPORT, RANGEFINDER, RANGEFINDER_QUALITY, LIDAR_TF, CORE_TEMP, RUNAWAY_TAKEOFF, SDIO, CURRENT_SENSOR, USB, SMARTAUDIO, RTH, ITERM_RELAX, RC_SMOOTHING, RX_SIGNAL_LOSS, RC_SMOOTHING_RATE, IMU, KALMAN, ANGLE, HORIZON
rate_6pos_switch int8 master OFF, ON
cpu_overclock uint8 master OFF, 192MHZ, 216MHZ, 240MHZ, 108MHZ, 120MHZ, 240MHZ USE_OVERCLOCK
pwr_on_arm_grace uint8 master 0 – 30

VTX Settings Config

Parameter Type Scope Range / Values Requires
vtx_band uint8 master VTX_SETTINGS_NO_BAND – VTX_SETTINGS_MAX_BAND USE_VTX_COMMON
vtx_channel uint8 master VTX_SETTINGS_MIN_CHANNEL – VTX_SETTINGS_MAX_CHANNEL USE_VTX_COMMON
vtx_power uint8 master VTX_SETTINGS_MIN_POWER – VTX_SETTINGS_POWER_COUNT - 1 USE_VTX_COMMON
vtx_low_power_disarm uint8 master OFF, ON USE_VTX_COMMON
vtx_freq uint16 master 0 – VTX_SETTINGS_MAX_FREQUENCY_MHZ USE_VTX_COMMON
vtx_pit_mode_freq uint16 master 0 – VTX_SETTINGS_MAX_FREQUENCY_MHZ USE_VTX_COMMON

VTX Config

Parameter Type Scope Range / Values Requires
vtx_halfduplex uint8 master OFF, ON USE_VTX_CONTROL, USE_VTX_COMMON

VCD Config

Parameter Type Scope Range / Values Requires
vcd_video_system uint8 master AUTO, PAL, NTSC, HD USE_MAX7456
vcd_h_offset int8 master -32 – 31 USE_MAX7456
vcd_v_offset int8 master -15 – 16 USE_MAX7456

MAX7456 Config

Parameter Type Scope Range / Values Requires
max7456_clock uint8 master HALF, DEFAULT, FULL USE_MAX7456
max7456_spi_bus uint8 master 0 – SPIDEV_COUNT USE_MAX7456

Display Port MSP Config

Parameter Type Scope Range / Values Requires
displayport_msp_col_adjust int8 master -6 – 0 USE_MSP_DISPLAYPORT
displayport_msp_row_adjust int8 master -3 – 0 USE_MSP_DISPLAYPORT

Display Port MAX7456 Config

Parameter Type Scope Range / Values Requires
displayport_max7456_col_adjust int8 master -6 – 0 USE_MAX7456
displayport_max7456_row_adjust int8 master -3 – 0 USE_MAX7456
displayport_max7456_inv uint8 master OFF, ON USE_MAX7456
displayport_max7456_blk uint8 master 0 – 3 USE_MAX7456
displayport_max7456_wht uint8 master 0 – 3 USE_MAX7456

ESC Sensor Config

Parameter Type Scope Range / Values Requires
esc_sensor_halfduplex uint8 master OFF, ON USE_ESC_SENSOR
esc_sensor_current_offset uint16 master 0 – 16000 USE_ESC_SENSOR

RX Frsky SPI Config

Parameter Type Scope Range / Values Requires
frsky_spi_autobind uint8 master OFF, ON USE_RX_FRSKY_SPI
frsky_spi_tx_id uint8 master array[2] USE_RX_FRSKY_SPI
frsky_spi_offset int8 master -127 – 127 USE_RX_FRSKY_SPI
frsky_spi_bind_hop_data uint8 master array[50] USE_RX_FRSKY_SPI
frsky_x_rx_num uint8 master 0 – 255 USE_RX_FRSKY_SPI
frsky_spi_use_external_adc uint8 master OFF, ON USE_RX_FRSKY_SPI

Status LED Config

Parameter Type Scope Range / Values
led_inversion uint8 master 0 – ((1 << STATUS_LED_NUMBER) - 1)

Dashboard Config

Parameter Type Scope Range / Values Requires
dashboard_i2c_bus uint8 master 0 – I2CDEV_COUNT USE_DASHBOARD
dashboard_i2c_addr uint8 master I2C_ADDR7_MIN – I2C_ADDR7_MAX USE_DASHBOARD

Camera Control Config

Parameter Type Scope Range / Values Requires
camera_control_mode uint8 master HARDWARE_PWM, SOFTWARE_PWM, DAC USE_CAMERA_CONTROL
camera_control_ref_voltage uint16 master 200 – 400 USE_CAMERA_CONTROL
camera_control_key_delay uint16 master 100 – 500 USE_CAMERA_CONTROL
camera_control_internal_resistance uint16 master 10 – 1000 USE_CAMERA_CONTROL
camera_control_button_resistance uint16 master array[CAMERA_CONTROL_KEYS_COUNT] USE_CAMERA_CONTROL
camera_control_inverted uint8 master OFF, ON USE_CAMERA_CONTROL

Rangefinder Config

Parameter Type Scope Range / Values Requires
rangefinder_hardware uint8 master NONE, HCSR04, TFMINI, TF02 USE_RANGEFINDER

Pinio Config

Parameter Type Scope Range / Values Requires
pinio_config uint8 master array[PINIO_COUNT] USE_PINIO

Piniobox Config

Parameter Type Scope Range / Values Requires
pinio_box uint8 master array[PINIO_COUNT] USE_PINIO, USE_PINIOBOX

USB Config

Parameter Type Scope Range / Values Requires
usb_hid_cdc uint8 master OFF, ON USE_USB_CDC_HID
usb_msc_pin_pullup uint8 master OFF, ON USE_USB_MSC

Flash Config

Parameter Type Scope Range / Values Requires
flash_spi_bus uint8 master 0 – SPIDEV_COUNT USE_FLASH

RCDEVICE Config

Parameter Type Scope Range / Values Requires
rcdevice_init_dev_attempts uint8 master 0 – 10 USE_RCDEVICE
rcdevice_init_dev_attempt_interval uint32 master 500 – 5000 USE_RCDEVICE

CLI Commands (PG-Backed)

Commands whose settings persist through their own dedicated table and handler instead of valueTable[].

Command Description Args Requires
adjrange configure adjustment ranges
aux configure modes <index> <mode> <aux> <start> <end> <logic>
color configure colors USE_LED_STRIP
dma list dma utilisation, or get/set/list a peripheral's dmaopt [show] | list | <device> <index> [<option>|none|list] USE_RESOURCE_MGMT
led configure leds USE_LED_STRIP
mmix custom motor mixer
mode_color configure mode and special colors USE_LED_STRIP
rxfail show/set rx failsafe settings
rxrange configure rx channel ranges
serial configure serial ports
smix servo mixer <rule> <servo> <source> <rate> <speed> <min> <max> <box> reset load <mixer> reverse <servo> <source> r|n USE_SERVOS
vtx vtx channels on switch <index> <aux_channel> <vtx_band> <vtx_channel> <vtx_power> <start_range> <end_range> USE_VTX_CONTROL

Generated by docs/gen_cli_docs.py from src/main/interface/settings.c, src/main/interface/cli.c