# 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 0profile 0dump

dump profiles using cli if you use them

profile 1dump profileprofile 2dump profile

dump rate profiles using cli if you use them

rateprofile 1dump ratesrateprofile 2dump 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.

CommandDescription
1wire <esc>passthrough 1wire to the specified ESC
adjrangeshow/set adjustment ranges settings
auxshow/set aux settings
mmixdesign custom motor mixer
smixdesign custom servo mixer
colorconfigure colors
defaultsreset to defaults and reboot
dumpprint configurable settings in a pastable form
dmaconfigure direct memory access channel
exit
featurelist or -val or val
getget variable value
gpspassthroughpassthrough GPS to serial
help
ledconfigure leds
mapmapping of RC channel order
mixermixer name or list
mode_colorconfigure mode colors
motorget/set motor output value
play_soundindex, or none for next
profileindex (0 to 2)
rateprofileindex (0 to 2)
rxrangeconfigure rx channel ranges (end-points)
rxfailshow/set rx failsafe settings
savesave and reboot
serialpassthroughserial passthrough mode, reset board to exit
setname=value or blank or * for list
statusshow system status
timerconfigure timer
versionshow version
serialconfigure serial ports
servoconfigure servos
sd_infosdcard info
tasksshow task stats

## CLI Variable Reference​

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

VariableDescription/UnitsMinMaxDefaultTypeDatatype
looptimeThis 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.090003500MasterUINT16
emf_avoidanceDefault value is OFF for 72MHz processor speed. Setting this to ON increases the processor speed, to move the 6th harmonic away from 432MHz.OFFONOFFMasterUINT8
i2c_highspeedEnabling this feature speeds up IMU speed significantly and faster looptimes are possible.OFFONONMasterUINT8
gyro_syncThis 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.OFFONONMasterUINT8
mid_rcThis 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.120017001500MasterUINT16
min_checkThese 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.020001100MasterUINT16
max_checkThese 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.020001900MasterUINT16
rssi_channelRX channel containing the RSSI signal0180MasterINT8
rssi_scaleWhen 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.125530MasterUINT8
rssi_invertWhen using PWM RSSI or ADC RSSI, determines if the signal is inverted (Futaba, FrSKY)OFFONONMasterINT8
rc_smoothingInterpolation of Rc data during looptimes when there are no new updates. This gives smoother RC input to PID controller and cleaner PIDsumOFFONONMasterINT8
rx_min_usecDefines 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.7502250885MasterUINT16
rx_max_usecDefines 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.75022502115MasterUINT16
serialrx_providerWhen 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, IBUSSPEK1024MasterUINT8
sbus_inversionStandard 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).OFFONONMasterUINT8
spektrum_sat_bind0 = disabled. Used to bind the spektrum satellite to RX0100MasterUINT8
input_filtering_modeFilter out noise from OpenLRS Telemetry RXOFFONONMasterINT8
min_throttleThese 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 1064/1864.020001150MasterUINT16
max_throttleThese 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 2000.020001850MasterUINT16
min_commandThis 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.020001000MasterUINT16
servo_center_pulseServo midpoint020001500MasterUINT16
motor_pwm_rateOutput 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 2000.5032000400MasterUINT16
servo_pwm_rateOutput 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.5049850MasterUINT16
3d_deadband_lowLow 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)020001406MasterUINT16
3d_deadband_highHigh value of throttle deadband for 3D mode (when stick is in the deadband range, the value in 3d_neutral is used instead)020001514MasterUINT16
3d_neutralNeutral (stop) throttle value for 3D mode020001460MasterUINT16
retarded_armDisabled 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.OFFONOFFMasterUINT8
disarm_kill_switchEnabled 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.OFFONONMasterUINT8
auto_disarm_delayDelay before automatic disarming0605MasterUINT8
max_arm_angleMaximum horizontal angle before arming is disabled018025MasterUINT8
small_angleIf the copter tilt angle exceed this value the copter will refuse to arm. default is 25°.018025MasterUINT8
fixedwing_althold_dirUsed for fixed-wing aircrafts. Determines of the correction value applied to throttle in alititude hold mode should be inverted.-111MasterINT8
reboot_characterSpecial character used to trigger reboot4812682MasterUINT8
gps_providerGPS standard. Possible values: NMEA, UBLOXNMEAMasterUINT8
gps_sbas_modeGround assistance type. Possible values: AUTO, EGNOS, WAAS, MSAS, GAGANAUTOMasterUINT8
gps_auto_configEnable automatic configuration of UBlox GPS receivers.OFFONONMasterUINT8
gps_auto_baudEnable automatic detection of GPS baudrate.OFFONOFFMasterUINT8
gps_pos_pGPS Position hold: P parameter020015ProfileUINT8
gps_pos_iGPS Position hold: I parameter02000ProfileUINT8
gps_pos_dGPS Position hold: D parameter02000ProfileUINT8
gps_posr_pGPS Position hold rate: P parameter020034ProfileUINT8
gps_posr_iGPS Position hold rate: I parameter020014ProfileUINT8
gps_posr_dGPS Position hold rate: D parameter020053ProfileUINT8
gps_nav_pGPS Navigation: P parameter020025ProfileUINT8
gps_nav_iGPS Navigation: I parameter020033ProfileUINT8
gps_nav_dGPS Navigation: D parameter020083ProfileUINT8
gps_wp_radiusGPS Navigation: waypoint radius02000200ProfileUINT16
nav_controls_headingGPS Navigation: should the craft's heading follow the flying direction.OFFONONProfileUINT8
nav_speed_minGPS Navigation: minimum moving speed102000100ProfileUINT16
nav_speed_maxGPS Navigation: maximum moving speed102000300ProfileUINT16
nav_slew_rateGPS Navigation: maximum angle correction value. Lower slew rate stops the craft from rotating too quickly.010030ProfileUINT8
telemetry_switchWhen 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.OFFONOFFMasterUINT8
report_cell_voltageDetermines if the voltage reported is Vbatt or calculated average cell voltage.OFFONOFFMasterUINT8
telemetry_inversionDetermines if the telemetry signal is inverted (Futaba, FrSKY)OFFONOFFMasterUINT8
telemetry_send_cellsEmulates FrSky FLVSS individual cell voltages telemetryOFFONOFFMasterUINT8
frsky_default_lattitudeOpenTX needs a valid set of coordinates to show compass value. A fake value defined in this setting is sent while no fix is acquired.-90900MasterFLOAT
frsky_default_longitudeOpenTX needs a valid set of coordinates to show compass value. A fake value defined in this setting is sent while no fix is acquired.-1801800MasterFLOAT
frsky_coordinates_formatFRSKY_FORMAT_DMS (default), FRSKY_FORMAT_NMEAFRSKY_FORMAT_DMSMasterUINT8
frsky_unitIMPERIAL (default), METRICIMPERIALMasterUINT8
frsky_vfas_precisionSet to 1 to send raw VBat value in 0.1V resolution for receivers that can handle it, or 0 (default) to use the standard method010MasterUINT8
hott_alarm_sound_intervalBattery alarm delay in seconds for Hott telemetry01205MasterUINT8
bat_capacityBattery capacity in mAH. This value is used in conjunction with the current meter to determine remaining battery capacity.0200000MasterUINT16
vbat_scaleResult 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.0255110MasterUINT8
vbat_max_cell_voltageMaximum voltage per cell, used for auto-detecting battery voltage in 0.01V units, default is 430 (4.3V)100500430MasterUINT16
vbat_min_cell_voltageMinimum voltage per cell, this triggers battery-critical alarms, in 0.01V units, default is 330 (3.3V)100500330MasterUINT16
vbat_warning_cell_voltageWarning voltage per cell, this triggers battery-warning alarms, in 0.01V units, default is 350 (3.5V)100500350MasterUINT16
vbat_hysteresisSets the hysteresis value for low-battery alarms, in 0.01V units, default is 1 (0.01V)102501MasterUINT8
current_meter_scaleThis 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.-1000010000400MasterINT16
current_meter_offsetThis sets the output offset voltage of the current sensor in millivolts.033000MasterUINT16
multiwii_current_meter_outputDefault current output via MSP is in 0.01A steps. Setting this to 1 causes output in default multiwii scaling (1mA steps).OFFONOFFMasterUINT8
current_meter_typeADC (default), VIRTUAL, NONE. The virtual current sensor, once calibrated, estimates the current value from throttle position.ADCMasterUINT8
align_gyroWhen 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.DEFAULTMasterUINT8
align_accWhen 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.DEFAULTMasterUINT8
align_magWhen 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.DEFAULTMasterUINT8
align_board_rollArbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc-1803600MasterINT16
align_board_pitchArbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc-1803600MasterINT16
align_board_yawArbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc-1803600MasterINT16
max_angle_inclinationThis setting controls max inclination (tilt) allowed in angle (level) mode. default 500 (50 degrees).100900500MasterUINT16
gyro_lpfHardware 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.10HZ188HZ42HZMasterUINT16
gyro_soft_lpfSoftware lowpass filter cutoff frequency for gyro. Default is 60Hz. Set to 0 to disable.050060MasterUINT16
moron_thresholdWhen 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.012832MasterUINT8
imu_dcm_kpInertial Measurement Unit KP Gain0200002500MasterUINT16
imu_dcm_kiInertial Measurement Unit KI Gain0200000MasterUINT16
alt_hold_deadbandAltitude will be held when throttle is centered with an error margin defined in this parameter.125040ProfileUINT8
alt_hold_fast_changeAuthorise fast altitude changes. Should be disabled when slow changes are preferred, for example for aerial photography.OFFONONProfileUINT8
deadbandThese 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.0320ProfileUINT8
yaw_deadbandThese 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.01000ProfileUINT8
yaw_control_directionUse if you need to inverse yaw control direction.-111ProfileINT8
3d_deadband_throttleThrottle signal will be held to a fixed value when throttle is centered with an error margin defined in this parameter.0200050ProfileUINT16
throttle_correction_valueThe 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.01500ProfileUINT8
throttle_correction_angleThe 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.1900800ProfileUINT16
pid_at_min_throttleIf enabled, the copter will process the PID algorithm at minimum throttle. Cannot be used when retarded_arm is enabled.OFFONONMasterUINT8
yaw_motor_directionUse if you need to inverse yaw motor direction.-111MasterINT8
yaw_jump_prevention_limitPrevent 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 heading80500200MasterUINT16
tri_unarmed_servoOn 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.OFFONONMasterINT8
servo_lowpass_freqSelects 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 / looptime10400400MasterFLOAT
servo_lowpass_enableDisabled by default.OFFONOFFMasterINT8
default_rate_profileDefault = profile number020ProfileUINT8
rc_rateRate value for all RC directions025090Rate ProfileUINT8
rc_expoExposition value for all RC directions010065Rate ProfileUINT8
rc_yaw_expoYaw exposition value01000Rate ProfileUINT8
thr_midThrottle value when the stick is set to mid-position. Used in the throttle curve calculation.010050Rate ProfileUINT8
thr_expoThrottle exposition value01000Rate ProfileUINT8
roll_rateRoll rate value10040Rate ProfileUINT8
pitch_ratePitch rate value10040Rate ProfileUINT8
yaw_rateYaw rate value02550Rate ProfileUINT8
tpa_rateThrottle 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.01000Rate ProfileUINT8
tpa_breakpointSee tpa_rate.100020001500Rate ProfileUINT16
failsafe_delayTime in deciseconds to wait before activating failsafe when signal is lost. See Failsafe documentation.020010MasterUINT8
failsafe_off_delayTime in deciseconds to wait before turning off motors when failsafe is activated. See Failsafe documentation.0200200MasterUINT8
failsafe_throttleThrottle level used for landing when failsafe is enabled. See Failsafe documentation.100020001000MasterUINT16
failsafe_kill_switchSet to ON to use an AUX channel as a faisafe kill switch.OFFONOFFMasterUINT8
failsafe_throttle_low_delayActivate failsafe when throttle is low and no RX data has been received since this value, in 10th of seconds0300100MasterUINT16
failsafe_procedure0 = Autolanding (default). 1 = Drop.010MasterUINT8
gimbal_modeWhen feature SERVO_TILT is enabled, this can be either NORMAL or MIXTILTNORMALProfileUINT8
acc_hardwareThis 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.090MasterUINT8
accz_lpf_cutoffCutoff frequency used in the low-pass filtering of accelerometer measurements.1205ProfileFLOAT
acc_trim_pitchAccelerometer trim (Pitch)-3003000ProfileINT16
acc_trim_rollAccelerometer trim (Roll)-3003000ProfileINT16
baro_tab_sizePressure sensor sample count.04821ProfileUINT8
baro_noise_lpfbarometer low-pass filter cut-off frequency in Hz. Ranges from 0 to 1 ; default 0.6010.6ProfileFLOAT
baro_cf_velVelocity 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.010.985ProfileFLOAT
baro_cf_altAltitude 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.010.965ProfileFLOAT
baro_hardware0 = Default, use whatever mag hardware is defined for your board type ; 1 = None, 2 = BMP085, 3 = MS5611, 4 = BMP280040MasterUINT8
mag_hardware0 = 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)040MasterUINT8
mag_declinationCurrent 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/-18000180000ProfileINT16
p_pitchPitch P parameter020040ProfileUINT8
i_pitchPitch I parameter020030ProfileUINT8
d_pitchPitch D parameter020023ProfileUINT8
p_roll Roll P parameter020040ProfileUINT8
i_roll Roll I parameter020030ProfileUINT8
d_roll Roll D parameter020023ProfileUINT8
p_yawYaw P parameter020085ProfileUINT8
i_yawYaw I parameter020045ProfileUINT8
d_yawYaw D parameter02000ProfileUINT8
p_altAltitude P parameter (Baro / Sonar altitude hold)020050ProfileUINT8
i_altAltitude I parameter (Baro / Sonar altitude hold)02000ProfileUINT8
d_altAltitude D parameter (Baro / Sonar altitude hold)02000ProfileUINT8
p_levelLevel P parameter (Angle / horizon modes)020020ProfileUINT8
i_levelLevel I parameter (Angle / horizon modes)020010ProfileUINT8
d_levelLevel D parameter (Angle / horizon modes)0200100ProfileUINT8
p_velVelocity P parameter (Baro / Sonar altitude hold)0200120ProfileUINT8
i_velVelocity I parameter (Baro / Sonar altitude hold)020045ProfileUINT8
d_velVelocity D parameter (Baro / Sonar altitude hold)02001ProfileUINT8
yaw_p_limitLimiter for yaw P term. This parameter is only affecting PID controller MW23. To disable set to 500 (actual default).100500500ProfileUINT16
dterm_cut_hzLowpass cutoff filter for Dterm for all PID controllers05000ProfileUINT16
gtune_loP_rllGTune: Low Roll P limit1020010ProfileUINT8
gtune_loP_ptchGTune: Low Pitch P limit1020010ProfileUINT8
gtune_loP_ywGTune: Low Yaw P limit1020010ProfileUINT8
gtune_hiP_rllGTune: High Roll P limit0200100ProfileUINT8
gtune_hiP_ptchGTune: High Pitch P limit0200100ProfileUINT8
gtune_hiP_ywGTune: High Yaw P limit0200100ProfileUINT8
gtune_pwrStrength of each Gtune adjustment0100ProfileUINT8
gtune_settle_timeGTune settling time in milliseconds200450ProfileUINT16
gtune_average_cyclesLooptime cycles for gyro average calculation. Default = 16.812816ProfileUINT8
blackbox_rate_numBlackbox logging rate numerator. Use num/denom settings to decide if a frame should be logged, allowing control of the portion of logged loop iterations1321MasterUINT8
blackbox_rate_denomBlackbox logging rate denominator. See blackbox_rate_num.1321MasterUINT8
blackbox_deviceSERIAL, SPIFLASH, SDCARD (default)SDCARDMasterUINT8
magzero_xMagnetometer calibration X offset-32768327670MasterINT16
magzero_yMagnetometer calibration Y offset-32768327670MasterINT16
magzero_zMagnetometer calibration Z offset-32768327670MasterINT16
vtx_bandConfigure the VTX band. Set to zero to use vtx_freq. Bands: 1: A, 2: B, 3: E, 4: F, 5: Race.054MasterUINT8
vtx_channelChannel to use within the configured vtx_band. Valid values are [1, 8].181MasterUINT8
vtx_freqSet the VTX frequency using raw MHz. This parameter is ignored unless vtx_band is 0.059005740MasterUINT16
vtx_halfduplexUse half duplex UART to communicate with the VTX, using only a TX pin in the FC.OFFONONMasterUINT8
vtx_low_power_disarmWhen 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.OFFMasterUINT8
vtx_pit_mode_freqFrequency to use (in MHz) when the VTX is in pit mode.059000MasterUINT16
vtx_powerVTX RF power level to use. The exact number of mw depends on the VTX hardware.031MasterUINT8