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Command Line Interface (CLI)

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

Accessing the CLI.

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

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

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

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

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

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

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

Backup via CLI

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

dump using cli

profile 0
dump

dump profiles using cli if you use them

profile 1
dump profile
profile 2
dump profile

copy screen output to a file and save it.

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

Command Description
1wire <esc> passthrough 1wire to the specified esc
adjrange show/set adjustment ranges settings
aux show/set aux settings
mmix design custom motor mixer
smix design custom servo mixer
color configure colors
defaults reset to defaults and reboot
dump print configurable settings in a pastable form
exit
feature list or -val or val
get get variable value
gpspassthrough passthrough gps to serial
help
led configure leds
map mapping of rc channel order
mixer mixer name or list
motor get/set motor output value
play_sound index, or none for next
profile index (0 to 2)
rxrange configure rx channel ranges (end-points)
save save and reboot
serialpassthrough <id> <baud> <mode> where id is the zero based port index, baud is a standard baud rate, and mode is rx, tx, or both (rxtx)
set name=value or blank or * for list
status show system status
version

CLI Variable Reference

Variable Name Default Value Description
looptime 1000 This is the main loop time (in us). Changing this affects PID effect with some PID controllers (see PID section for details). A very conservative value of 3500us/285Hz should work for everyone. Setting it to zero does not limit loop time, so it will go as fast as possible.
i2c_speed 400KHZ This setting controls the clock speed of I2C bus. 400KHZ is the default that most setups are able to use. Some noise-free setups may be overclocked to 800KHZ. Some sensor chips or setups with long wires may work unreliably at 400KHZ - user can try lowering the clock speed to 200KHZ or even 100KHZ. User need to bear in mind that lower clock speeds might require higher looptimes (lower looptime rate)
cpu_underclock OFF This option is only available on certain architectures (F3 CPUs at the moment). It makes CPU clock lower to reduce interference to long-range RC systems working at 433MHz
gyro_sync OFF 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,
gyro_sync_denom 2 This option determines the sampling ratio. Denominator of 1 means full gyro sampling rate. Denominator 2 would mean 1/2 samples will be collected. Denominator and gyro_lpf will together determine the control loop speed.
acc_task_frequency 500 Determines accelerometer task frequency in async_mode = ALL. Depending on UAV type this frequency can be lowered to conserve CPU resources as long as vibrations are not a problem.
attitude_task_frequency 250 Determines attitude task frequency when async_mode = ALL
async_mode NONE Enables asynchronous mode processing for gyro/accelerometer and attitude computations. Allowed modes: NONE -> default behavior, all calculations are executed in main PID loop. GYRO -> gyro sampling and filtering is detached from main PID loop. PID loop runs based on looptime while gyro sampling uses gyro_sync_denom and gyro_lpf combination to determine its frequency. ALL -> in this mode, gyro, accelerometer and attitude are running as separate tasks. Accelerometer task frequency is determined by acc_task_frequency, attitude task frequency by attitude_task_frequency. In this mode ANGLE and HORIZON, as well GPS assisted flight modes (including PosHold) performance might be lowered.
mid_rc 1500 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.
min_check 1100 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.
max_check 1900 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.
rssi_channel 0 RX channel containing the RSSI signal
rssi_scale 100 By default RSSI expects to use full span of the input (0-3.3V for ADC, 1000-2000 for AUX channel). This scale (percentage) allows you to adjust the scaling to get 100% RSSI shown correctly
rssi_invert OFF
rc_smoothing ON Interpolation of Rc data during looptimes when there are no new updates. This gives smoother RC input to PID controller and cleaner PIDsum
input_filtering_mode OFF Filter out noise from OpenLRS Telemetry RX
min_throttle 1150 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.
max_throttle 1850 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.
min_command 1000 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.
3d_deadband_low 1406 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)
3d_deadband_high 1514 High value of throttle deadband for 3D mode (when stick is in the deadband range, the value in 3d_neutral is used instead)
3d_neutral 1460 Neutral (stop) throttle value for 3D mode
3d_deadband_throttle 50 Throttle signal will be held to a fixed value when throttle is centered with an error margin defined in this parameter.
motor_pwm_rate 400 Output frequency (in Hz) for motor pins. Default is 400Hz for motor with motor_pwm_protocol set to STANDARD. For *SHOT (e.g. ONESHOT125) values of 1000 and 2000 have been tested by the development team and are supported. It may be possible to use higher values. For BRUSHED values of 8000 and above should be used. Setting to 8000 will use brushed mode at 8kHz switching frequency. Up to 32kHz is supported for brushed. Default is 16000 for boards with brushed motors. Note, that in brushed mode, minthrottle is offset to zero. For brushed mode, set max_throttle to 2000.
motor_pwm_protocol STANDARD Protocol that is used to send motor updates to ESCs. Possible values - STANDARD, ONESHOT125, ONESHOT42, MULTISHOT, BRUSHED
fixed_wing_auto_arm OFF Auto-arm fixed wing aircraft on throttle above min_throttle, and disarming with stick commands are disabled, so power cycle is required to disarm. Requires enabled motorstop and no arm switch configured.
disarm_kill_switch ON Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel.
auto_disarm_delay 5 Delay before automatic disarming when using stick arming and MOTOR_STOP. This does not apply when using FIXED_WING
small_angle 25 If the aircraft tilt angle exceed this value the copter will refuse to arm.
reboot_character 82 Special character used to trigger reboot
gps_provider UBLOX Which GPS protocol to be used
gps_sbas_mode NONE Which SBAS mode to be used
gps_dyn_model AIR_1G GPS navigation model: Pedestrian, Air_1g, Air_4g. Default is AIR_1G. Use pedestrian with caution, can cause flyaways with fast flying.
gps_auto_config ON Enable automatic configuration of UBlox GPS receivers.
gps_auto_baud ON Automatic configuration of GPS baudrate(The specified baudrate in configured in ports will be used) when used with UBLOX GPS. When used with NAZA/DJI it will automatic detect GPS baudrate and change to it, ignoring the selected baudrate set in ports
gps_min_sats 6 Minimum number of GPS satellites in view to acquire GPS_FIX and consider GPS position valid. Some GPS receivers appeared to be very inaccurate with low satellite count.
gps_ublox_use_galileo OFF Enable use of Galileo satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires M8N and Ublox firmware 3.x (or later) [OFF/ON].
inav_auto_mag_decl ON Automatic setting of magnetic declination based on GPS position. When used manual magnetic declination is ignored.
inav_gravity_cal_tolerance 5 Unarmed gravity calibration tolerance level. Won't finish the calibration until estimated gravity error falls below this value.
inav_use_gps_velned ON Defined if iNav should use velocity data provided by GPS module for doing position and speed estimation. If set to OFF iNav will fallback to calculating velocity from GPS coordinates. Using native velocity data may improve performance on some GPS modules. Some GPS modules introduce significant delay and using native velocity may actually result in much worse performance.
inav_gps_delay 200 GPS position and velocity data usually arrive with a delay. This parameter defines this delay. Default (200) should be reasonable for most GPS receivers.
inav_reset_altitude FIRST_ARM Defines when relative estimated altitude is reset to zero. Variants - NEVER (once reference is acquired it's used regardless); FIRST_ARM (keep altitude at zero until firstly armed), EACH_ARM (altitude is reset to zero on each arming)
inav_max_surface_altitude 200 Max allowed altitude for surface following mode. [cm]
inav_w_z_baro_p 0.350 Weight of barometer measurements in estimated altitude and climb rate
inav_w_z_gps_p 0.200 Weight of GPS altitude measurements in estimated altitude. Setting is used only of airplanes
inav_w_z_gps_v 0.500 Weight of GPS climb rate measurements in estimated climb rate. Setting is used on both airplanes and multirotors. If GPS doesn't support native climb rate reporting (i.e. NMEA GPS) you may consider setting this to zero
inav_w_xy_gps_p 1.000 Weight of GPS coordinates in estimated UAV position and speed.
inav_w_xy_gps_v 2.000 Weight of GPS velocity data in estimated UAV speed
inav_w_z_res_v 0.500 Decay coefficient for estimated climb rate when baro/GPS reference for altitude is lost
inav_w_xy_res_v 0.500 Decay coefficient for estimated velocity when GPS reference for position is lost
inav_w_acc_bias 0.010 Weight for accelerometer drift estimation
inav_max_eph_epv 1000.000 Maximum uncertainty value until estimated position is considered valid and is used for navigation [cm]
inav_baro_epv 100.000 Uncertainty value for barometric sensor [cm]
nav_disarm_on_landing OFF If set to ON, iNav disarms the FC after landing
nav_use_midthr_for_althold OFF If set to OFF, the FC remembers your throttle stick position when enabling ALTHOLD and treats it as a neutral midpoint for holding altitude
nav_extra_arming_safety ON If set to ON drone won't arm if no GPS fix and any navigation mode like RTH or POSHOLD is configured
nav_user_control_mode ATTI Defines how Pitch/Roll input from RC receiver affects flight in POSHOLD mode: ATTI - right stick controls attitude like in ANGLE mode; CRUISE - right stick controls velocity in forward and right direction.
nav_position_timeout 5 If GPS fails wait for this much seconds before switching to emergency landing mode (0 - disable)
nav_wp_radius 100 Waypoint radius [cm]. Waypoint would be considered reached if machine is within this radius
nav_wp_safe_distance 10000 First waypoint in the mission should be closer than this value [cm]
nav_auto_speed 300 Maximum velocity firmware is allowed in full auto modes (POSHOLD, RTH, WP) [cm/s] [Multirotor only]
nav_auto_climb_rate 500 Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s]
nav_manual_speed 500 Maximum velocity firmware is allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]
nav_manual_climb_rate 200 Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]
nav_landing_speed 200 Vertical descent velocity during the RTH landing phase. [cm/s]
nav_land_slowdown_minalt 500 Defines at what altitude the descent velocity should start to be 25% of nav_landing_speed [cm]
nav_land_slowdown_maxalt 2000 Defines at what altitude the descent velocity should start to ramp down from 100% nav_landing_speed to 25% nav_landing_speed. [cm]
nav_emerg_landing_speed 500 Rate of descent UAV will try to maintain when doing emergency descent sequence [cm/s]
nav_min_rth_distance 500 Minimum distance from homepoint when RTH full procedure will be activated [cm]. Below this distance, the mode will activate at the current location and the final phase is executed (loiter / land). Above this distance, the full procedure is activated, which may include initial climb and flying directly to the homepoint before entering the loiter / land phase.
nav_rth_climb_first ON If set to ON drone will climb to nav_rth_altitude first and head home afterwards. If set to OFF drone will head home instantly and climb on the way.
nav_rth_tail_first OFF If set to ON drone will return tail-first. Obviously meaningless for airplanes.
nav_rth_allow_landing ALWAYS If set to ON drone will land as a last phase of RTH.
nav_rth_climb_ignore_emerg OFF If set to ON, aircraft will execute initial climb regardless of position sensor (GPS) status.
nav_rth_alt_mode AT_LEAST Configure how the aircraft will manage altitude on the way home, see Navigation modes on wiki for more details
nav_rth_altitude 1000 Used in EXTRA, FIXED and AT_LEAST rth alt modes [cm] (Default 1000 means 10 meters)
nav_rth_abort_threshold 50000 RTH sanity checking feature will notice if distance to home is increasing during RTH and once amount of increase exceeds the threshold defined by this parameter, instead of continuing RTH machine will enter emergency landing, self-level and go down safely. Default is 500m which is safe enough for both multirotor machines and airplanes. [cm]
nav_mc_bank_angle 30 Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude
nav_mc_hover_thr 1500 Multicopter hover throttle hint for altitude controller. Should be set to approximate throttle value when drone is hovering.
nav_mc_auto_disarm_delay 2000
nav_fw_cruise_thr 1400 Cruise throttle in GPS assisted modes, this includes RTH. Should be set high enough to avoid stalling. This values gives INAV a base for throttle when flying straight, and it will increase or decrease throttle based on pitch of airplane and the parameters below. In addition it will increase throttle if GPS speed gets below 7m/s ( hardcoded )
nav_fw_min_thr 1200 Minimum throttle for flying wing in GPS assisted modes
nav_fw_max_thr 1700 Maximum throttle for flying wing in GPS assisted modes
nav_fw_bank_angle 20 Max roll angle when rolling / turning in GPS assisted modes, is also restrained by global max_angle_inclination_rll
nav_fw_climb_angle 20 Max pitch angle when climbing in GPS assisted modes, is also restrained by global max_angle_inclination_pit
nav_fw_dive_angle 15 Max negative pitch angle when diving in GPS assisted modes, is also restrained by global max_angle_inclination_pit
nav_fw_pitch2thr 10 Amount of throttle applied related to pitch attitude in GPS assisted modes
nav_fw_loiter_radius 5000 PosHold radius. 3000 to 7500 is a good value (30-75m) [cm]
nav_fw_launch_velocity 300 Forward velocity threshold for swing-launch detection [cm/s]
nav_fw_launch_accel 1863 Forward acceleration threshold for bungee launch of throw launch [cm/s/s], 1G = 981 cm/s/s
nav_fw_launch_max_angle 45 Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg]
nav_fw_launch_detect_time 40 Time for which thresholds have to breached to consider launch happened [ms]
nav_fw_launch_thr 1700 Launch throttle - throttle to be set during launch sequence (pwm units)
nav_fw_launch_idle_thr 1000 Launch idle throttle - throttle to be set before launch sequence is initiated. If set below min_throttle it will force motor stop or at idle throttle (depending if the MOTOR_STOP is enabled). If set above min_throttle it will force throttle to this value (if MOTOR_STOP is enabled it will be handled according to throttle stick position)
nav_fw_launch_motor_delay 500 Delay between detected launch and launch sequence start and throttling up (ms)
nav_fw_launch_spinup_time 100 Time to bring power from min_throttle to nav_fw_launch_thr - to avoid big stress on ESC and large torque from propeller
nav_fw_launch_timeout 5000 Maximum time for launch sequence to be executed. After this time LAUNCH mode will be turned off and regular flight mode will take over (ms)
nav_fw_launch_max_altitude 0 Altitude at which LAUNCH mode will be turned off and regular flight mode will take over. [cm]
nav_fw_launch_climb_angle 18 Climb angle for launch sequence (degrees), is also restrained by global max_angle_inclination_pit
nav_fw_launch_min_time 0 Allow launch mode to execute at least this time (ms) and ignore stick movements [0-60000].
nav_fw_launch_max_altitude 0 Altitude (centimeters) at which LAUNCH mode will be turned off and regular flight mode will take over [0-60000].
nav_fw_land_dive_angle 2 Dive angle that airplane will use during final landing phase. During dive phase, motor is stopped or IDLE and roll control is locked to 0 degrees
serialrx_provider SPEK1024 When feature SERIALRX is enabled, this allows connection to several receivers which output data via digital interface resembling serial. See RX section.
serialrx_halfduplex OFF Allow serial receiver to operate on UART TX pin. With some receivers will allow control and telemetry over a single wire
serialrx_inverted OFF Reverse the serial inversion of the serial RX protocol. When this value is OFF, each protocol will use its default signal (e.g. SBUS will use an inverted signal). Some OpenLRS receivers produce a non-inverted SBUS signal. This setting supports this type of receivers (including modified FrSKY).
spektrum_sat_bind 0 0 = disabled. Used to bind the spektrum satellite to RX
telemetry_switch OFF Which aux channel to use to change serial output & baud rate (MSP / Telemetry). It disables automatic switching to Telemetry when armed.
telemetry_inverted OFF Determines if the telemetry protocol default signal inversion is reversed. This should be OFF in most cases unless a custom or hacked RX is used.
frsky_default_latitude 0.000 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.
frsky_default_longitude 0.000 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.
frsky_coordinates_format 0 FRSKY_FORMAT_DMS (default), FRSKY_FORMAT_NMEA
frsky_unit METRIC METRIC , IMPERIAL
frsky_vfas_precision 0 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
report_cell_voltage OFF
hott_alarm_sound_interval 5 Battery alarm delay in seconds for Hott telemetry
smartport_uart_unidir OFF Turn UART into UNIDIR for smartport telemetry for usage on F1 and F4 target. See Telemetry.md for details
smartport_fuel_unit MAH Unit of the value sent with the FUEL ID through the S.Port telemetry. Replaces the smartport_fuel_percent setting in versions < 1.9 [PERCENT/MAH/MWH]
ibus_telemetry_type 0 Type compatibility ibus telemetry for transmitters. See Telemetry.md label IBUS for details.
ltm_update_rate NORMAL Defines the LTM update rate (use of bandwidth [NORMAL/MEDIUM/SLOW]). See Telemetry.md, LTM section for details.
battery_capacity 0 Battery capacity in mAH. This value is used in conjunction with the current meter to determine remaining battery capacity.
vbat_scale 1100 Battery voltage calibration value. 1100 = 11:1 voltage divider (10k:1k) x 100. Adjust this slightly if reported pack voltage is different from multimeter reading. You can get current voltage by typing "status" in cli.
vbat_max_cell_voltage 424 Maximum voltage per cell, used for auto-detecting battery voltage in 0.01V units, default is 424 (4.24V)
vbat_min_cell_voltage 330 Minimum voltage per cell, this triggers battery out alarms, in 0.01V units, default is 330 (3.3V)
vbat_warning_cell_voltage 350 Warning voltage per cell, this triggers battery-warning alarms, in 0.01V units, default is 350 (3.5V)
current_meter_scale 400 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.
current_meter_offset 0 This sets the output offset voltage of the current sensor in millivolts.
battery_capacity 0 Set the battery capacity in mAh or mWh (see battery_capacity_unit). Used to calculate the remaining battery capacity.
battery_capacity_warning 0 If the remaining battery capacity goes below this threshold the beeper will emit short beeps and the relevant OSD items will blink.
battery_capacity_critical 0 If the remaining battery capacity goes below this threshold the battery is considered empty and the beeper will emit long beeps.
battery_capacity_unit MAH Unit used for battery_capacity, battery_capacity_warning and battery_capacity_critical [MAH/MWH] (milliAmpere hour / milliWatt hour).
multiwii_current_meter_output OFF Default current output via MSP is in 0.01A steps. Setting this to 1 causes output in default multiwii scaling (1mA steps)
current_meter_type ADC ADC , VIRTUAL, NONE. The virtual current sensor, once calibrated, estimates the current value from throttle position.
align_gyro DEFAULT When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP.
align_acc DEFAULT When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP.
align_mag DEFAULT When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP.
align_board_roll 0 Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc
align_board_pitch 0 Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc
align_board_yaw 0 Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc
align_mag_roll 0 Set the external mag alignment on the roll axis (in 0.1 degree steps). If this value is non-zero, the compass is assumed to be externally mounted and both the board and on-board compass alignent (align_mag) are ignored. See also align_mag_pitch and align_mag_yaw.
align_mag_pitch 0 Same as align_mag_roll, but for the pitch axis.
align_mag_yaw 0 Same as align_mag_roll, but for the yaw axis.
gyro_hardware_lpf 42HZ Hardware lowpass filter for gyro. Allowed values depend on the driver - For example MPU6050 allows 10HZ,20HZ,42HZ,98HZ,188HZ,256Hz (8khz mode). If you have to set gyro lpf below 42Hz generally means the frame is vibrating too much, and that should be fixed first.
moron_threshold 32 When powering up, gyro bias is calculated. If the model is shaking/moving during this initial calibration, offsets are calculated incorrectly, and could lead to poor flying performance. This threshold means how much average gyro reading could differ before re-calibration is triggered.
imu_dcm_kp 2500 Inertial Measurement Unit KP Gain for accelerometer measurements
imu_dcm_ki 50 Inertial Measurement Unit KI Gain for accelerometer measurements
imu_dcm_kp_mag 10000 Inertial Measurement Unit KP Gain for compass measurements
imu_dcm_ki_mag 0 Inertial Measurement Unit KI Gain for compass measurements
pos_hold_deadband 20 Stick deadband in [r/c points], applied after r/c deadband and expo
alt_hold_deadband 50 Defines the deadband of throttle during alt_hold [r/c points]
yaw_motor_direction 1 Use if you need to inverse yaw motor direction.
yaw_jump_prevention_limit 200 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
tri_unarmed_servo ON On tricopter mix only, if this is set to ON, servo will always be correcting regardless of armed state. to disable this, set it to OFF.
servo_lpf_hz 20 Selects the servo PWM output cutoff frequency. Value is in [Hz]
servo_center_pulse 1500 Servo midpoint
servo_pwm_rate 50 Output frequency (in Hz) servo pins. When using tricopters or gimbal with digital servo, this rate can be increased. Max of 498Hz (for 500Hz pwm period), and min of 50Hz. Most digital servos will support for example 330Hz.
failsafe_delay 5 Time in deciseconds to wait before activating failsafe when signal is lost. See Failsafe documentation.
failsafe_recovery_delay 5 Time in deciseconds to wait before aborting failsafe when signal is recovered. See Failsafe documentation.
failsafe_off_delay 200 Time in deciseconds to wait before turning off motors when failsafe is activated. 0 = No timeout. See Failsafe documentation.
failsafe_throttle 1000 Throttle level used for landing when failsafe is enabled. See Failsafe documentation.
failsafe_throttle_low_delay 100 If failsafe activated when throttle is low for this much time - bypass failsafe and disarm, in 10th of seconds. 0 = No timeout
failsafe_procedure SET-THR What failsafe procedure to initiate in Stage 2. See Failsafe documentation.
failsafe_stick_threshold 50 Threshold for stick motion to consider failsafe condition resolved. If non-zero failsafe won't clear even if RC link is restored - you have to move sticks to exit failsafe.
failsafe_fw_roll_angle -200 Amount of banking when SET-THR failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = left roll
failsafe_fw_pitch_angle 100 Amount of dive/climb when SET-THR failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = climb
failsafe_fw_yaw_rate -45 Requested yaw rate to execute when SET-THR failsafe is active on a fixed-wing machine. In deg/s. Negative values = left turn
failsafe_min_distance 0 If failsafe happens when craft is closer than this distance in centimeters from home, failsafe will not execute regular failsafe_procedure, but will execute procedure specified in failsafe_min_distance_procedure instead. 0 = Normal failsafe_procedure always taken.
failsafe_min_distance_procedure DROP What failsafe procedure to initiate in Stage 2 when craft is closer to home than failsafe_min_distance. See Failsafe documentation.
failsafe_lights ON Enable or disable the lights when the FAILSAFE flight mode is enabled. The target needs to be compiled with USE_LIGHTS [ON/OFF].
failsafe_lights_flash_period 1000 Time in milliseconds between two flashes when failsafe_lights is ON and FAILSAFE flight mode is enabled [40-65535].
failsafe_lights_flash_on_time 100 Flash lights ON time in milliseconds when failsafe_lights is ON and FAILSAFE flight mode is enabled. [20-65535].
rx_min_usec 885 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.
rx_max_usec 2115 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.
rx_nosignal_throttle HOLD Defines behavior of throttle channel after signal loss is detected and until failsafe_procedure kicks in. Possible values - HOLD and DROP.
acc_hardware AUTO Selection of acc hardware. See Wiki Sensor auto detect and hardware failure detection for more info
baro_median_filter ON 3-point median filtering for barometer readouts. No reason to change this setting
baro_hardware AUTO Selection of baro hardware. See Wiki Sensor auto detect and hardware failure detection for more info
mag_hardware AUTO Selection of mag hardware. See Wiki Sensor auto detect and hardware failure detection for more info
mag_to_use Allow to chose between built-in and external compass sensor if they are connected to separate buses. Currently only for REVO target
rangefinder_median_filter OFF 3-point median filtering for rangefinder readouts
blackbox_rate_num 1 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
blackbox_rate_denom 1 Blackbox logging rate denominator. See blackbox_rate_num.
blackbox_device SPIFLASH Selection of where to write blackbox data
sdcard_detect_inverted TARGET dependent This setting drives the way SD card is detected in card slot. On some targets (AnyFC F7 clone) different card slot was used and depending of hardware revision ON or OFF setting might be required. If card is not detected, change this value.
ledstrip_visual_beeper OFF
osd_video_system 0
osd_row_shiftdown 0
osd_units METRIC IMPERIAL, METRIC, UK
osd_stats_energy_unit MAH Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour)
osd_main_voltage_decimals 1 Number of decimals for the battery voltages displayed in the OSD [1-2].
osd_wh_drawn_pos
osd_bat_remaining_capacity_pos
osd_bat_remaining_percent_pos
osd_efficiency_mah_pos
osd_efficiency_wh_pos
osd_rssi_alarm 20
osd_time_alarm 10
osd_alt_alarm 100
osd_main_voltage_pos 0
osd_rssi_pos 0
osd_flytimer_pos 0
osd_ontime_pos 0
osd_flymode_pos 0
osd_throttle_pos 0
osd_vtx_channel_pos 0
osd_crosshairs 0
osd_artificial_horizon 0
osd_current_draw_pos 0
osd_mah_drawn_pos 0
osd_craft_name_pos 0
osd_gps_speed_pos 0
osd_gps_sats_pos 0
osd_altitude_pos 0
osd_pid_roll_pos 0
osd_pid_pitch_pos 0
osd_pid_yaw_pos 0
osd_power_pos 0
magzero_x 0 Magnetometer calibration X offset. If its 0 none offset has been applied and calibration is failed.
magzero_y 0 Magnetometer calibration Y offset. If its 0 none offset has been applied and calibration is failed.
magzero_z 0 Magnetometer calibration Z offset. If its 0 none offset has been applied and calibration is failed.
acczero_x 0 Calculated value after '6 position avanced calibration'. See Wiki page.
acczero_y 0 Calculated value after '6 position avanced calibration'. See Wiki page.
acczero_z 0 Calculated value after '6 position avanced calibration'. See Wiki page.
accgain_x 4096 Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.
accgain_y 4096 Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.
accgain_z 4096 Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.
nav_mc_pos_z_p 50 P gain of altitude PID controller (Multirotor)
nav_fw_pos_z_p 50 P gain of altitude PID controller (Fixedwing)
nav_mc_pos_z_i 0 I gain of altitude PID controller (Multirotor)
nav_fw_pos_z_i 0 I gain of altitude PID controller (Fixedwing)
nav_mc_pos_z_d 0 D gain of altitude PID controller (Multirotor)
nav_fw_pos_z_d 0 D gain of altitude PID controller (Fixedwing)
nav_mc_vel_z_p 100 P gain of velocity PID controller
nav_mc_vel_z_i 50 I gain of velocity PID controller
nav_mc_vel_z_d 10 D gain of velocity PID controller
nav_mc_pos_xy_p 65 Controls how fast the drone will fly towards the target position. This is a multiplier to convert displacement to target velocity
nav_mc_pos_xy_i 120 Controls deceleration time. Measured in 1/100 sec. Expected hold position is placed at a distance calculated as decelerationTime * currentVelocity
nav_mc_pos_xy_d 10
nav_mc_vel_xy_p 40 P gain of Position-Rate (Velocity to Acceleration) PID controller. Higher P means stronger response when position error occurs. Too much P might cause "nervous" behavior and oscillations
nav_mc_vel_xy_i 15 I gain of Position-Rate (Velocity to Acceleration) PID controller. Used for drift compensation (caused by wind for example). Higher I means stronger response to drift. Too much I gain might cause target overshot
nav_mc_vel_xy_d 100 D gain of Position-Rate (Velocity to Acceleration) PID controller. It can damp P and I. Increasing D might help when drone overshoots target.
nav_fw_pos_xy_p 75 P gain of 2D trajectory PID controller. Play with this to get a straight line between waypoints or a straight RTH
nav_fw_pos_xy_i 5 I gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero
nav_fw_pos_xy_d 8 D gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero
nav_mc_heading_p 60 P gain of Heading Hold controller (Multirotor)
nav_fw_heading_p 60 P gain of Heading Hold controller (Fixedwing)
deadband 5 These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle.
yaw_deadband 5 These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle.
throttle_tilt_comp_str 0 Can be used in ANGLE and HORIZON mode and will automatically boost throttle when banking. Setting is in percentage, 0=disabled.
flaperon_throw_offset 200 Defines throw range in us for both ailerons that will be passed to servo mixer via input source 14 (FEATURE FLAPS) when FLAPERON mode is activated.
gimbal_mode NORMAL When feature SERVO_TILT is enabled, this can be either NORMAL or MIXTILT
fw_iterm_throw_limit 165 Limits max/min I-term value in stabilization PID controller in case of Fixed Wing. It solves the problem of servo saturation before take-off/throwing the airplane into the air. By default, error accumulated in I-term can not exceed 1/3 of servo throw (around 165us). Set 0 to disable completely.
fw_reference_airspeed 1000 Reference airspeed. Set this to airspeed at which PIDs were tuned. Usually should be set to cruise airspeed. Also used for coordinated turn calculation if airspeed sensor is not present.
fw_turn_assist_yaw_gain 1 Gain required to keep the yaw rate consistent with the turn rate for a coordinated turn (in TURN_ASSIST mode). Value significantly different from 1.0 indicates a problem with the airspeed calibration (if present) or value of fw_reference_airspeed parameter
mode_range_logic_operator OR Control how Mode selection works in flight modes. If you example have Angle mode configured on two different Aux channels, this controls if you need both activated ( AND ) or if you only need one activated ( OR ) to active angle mode.
default_rate_profile 0 Default = profile number
mag_declination 0 Current location magnetic declination in format. For example, -6deg 37min = -637 for Japan. Leading zero in ddd not required. Get your local magnetic declination here: http://magnetic-declination.com/ . Not in use if inav_auto_mag_decl is turned on and you acquire valid GPS fix.
heading_hold_rate_limit 90 This setting limits yaw rotation rate that HEADING_HOLD controller can request from PID inner loop controller. It is independent from manual yaw rate and used only when HEADING_HOLD flight mode is enabled by pilot, RTH or WAYPOINT modes.
mag_calibration_time 30 Adjust how long time the Calibration of mag will last.
mc_p_pitch 40 Multicopter rate stabilisation P-gain for PITCH
mc_i_pitch 30 Multicopter rate stabilisation I-gain for PITCH
mc_d_pitch 23 Multicopter rate stabilisation D-gain for PITCH
mc_p_roll 40 Multicopter rate stabilisation P-gain for ROLL
mc_i_roll 30 Multicopter rate stabilisation I-gain for ROLL
mc_d_roll 23 Multicopter rate stabilisation D-gain for ROLL
mc_p_yaw 85 Multicopter rate stabilisation P-gain for YAW
mc_i_yaw 45 Multicopter rate stabilisation I-gain for YAW
mc_d_yaw 0 Multicopter rate stabilisation D-gain for YAW
mc_p_level 20 Multicopter attitude stabilisation P-gain
mc_i_level 15 Multicopter attitude stabilisation low-pass filter cutoff
mc_d_level 75 Multicopter attitude stabilisation HORIZON transition point
fw_p_pitch 5 Fixed-wing rate stabilisation P-gain for PITCH
fw_i_pitch 7 Fixed-wing rate stabilisation I-gain for PITCH
fw_ff_pitch 50 Fixed-wing rate stabilisation FF-gain for PITCH
fw_p_roll 5 Fixed-wing rate stabilisation P-gain for ROLL
fw_i_roll 7 Fixed-wing rate stabilisation I-gain for ROLL
fw_ff_roll 50 Fixed-wing rate stabilisation FF-gain for ROLL
fw_p_yaw 6 Fixed-wing rate stabilisation P-gain for YAW
fw_i_yaw 10 Fixed-wing rate stabilisation I-gain for YAW
fw_ff_yaw 60 Fixed-wing rate stabilisation FF-gain for YAW
fw_p_level 20 Fixed-wing attitude stabilisation P-gain
fw_i_level 5 Fixed-wing attitude stabilisation low-pass filter cutoff
fw_d_level 75 Fixed-wing attitude stabilisation HORIZON transition point
max_angle_inclination_rll 300 Maximum inclination in level (angle) mode (ROLL axis). 100=10°
max_angle_inclination_pit 300 Maximum inclination in level (angle) mode (PITCH axis). 100=10°
gyro_lpf_hz 60 Software-based filter to remove mechanical vibrations from the gyro signal. Value is cutoff frequency (Hz). For larger frames with bigger props set to lower value.
acc_lpf_hz 15 Software-based filter to remove mechanical vibrations from the accelerometer measurements. Value is cutoff frequency (Hz). For larger frames with bigger props set to lower value.
dterm_lpf_hz 40
yaw_lpf_hz 30
pidsum_limit 500 A limitation to overall amount of correction Flight PID can request on each axis (Roll/Pitch/Yaw). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help
yaw_p_limit 300
iterm_ignore_threshold 200 Used to prevent Iterm accumulation on ROLL/PITCH axis during stick movements. Iterm is allowed to change fully when sticks are centered. Iterm will not change when requested rotation speed is above iterm_ignore_threshold. Iterm accumulation is scaled linearly between 0 and iterm_ignore_threshold
yaw_iterm_ignore_threshold 50 Used to prevent Iterm accumulation on YAW axis during stick movements. Iterm is allowed to change fully when sticks are centered. Iterm will not change when requested rotation speed is above yaw_iterm_ignore_threshold. Iterm acumulation is scaled linearly between 0 and yaw_iterm_ignore_threshold
rate_accel_limit_roll_pitch 0 Limits acceleration of ROLL/PITCH rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 5000 dps^2 and even > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 360 dps^2). When set correctly, it greatly improves stopping performance. Value of 0 disables limiting.
rate_accel_limit_yaw 10000 Limits acceleration of YAW rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 180 dps^2). When set correctly, it greatly improves stopping performance and general stability during yaw turns. Value of 0 disables limiting.
rc_expo 70 Exposition value used for the PITCH/ROLL axes by all the stabilized flights modes (all but MANUAL)
rc_yaw_expo 20 Exposition value used for the YAW axis by all the stabilized flights modes (all but MANUAL)
manual_rc_expo 70 Exposition value used for the PITCH/ROLL axes by the MANUAL flight mode [0-100]
manual rc_yaw_expo 20 Exposition value used for the YAW axis by the MANUAL flight mode [0-100]
thr_mid 50 Throttle value when the stick is set to mid-position. Used in the throttle curve calculation.
thr_expo 0 Throttle exposition value
roll_rate 20 Defines rotation rate on ROLL axis that UAV will try to archive on max. stick deflection. Rates are defined in tenths of degrees per second [dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure.
pitch_rate 20 Defines rotation rate on PITCH axis that UAV will try to archive on max. stick deflection. Rates are defined in tenths of degrees per second [dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure.
yaw_rate 20 Defines rotation rate on YAW axis that UAV will try to archive on max. stick deflection. Rates are defined in tenths of degrees per second [dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure.
manual_pitch_rate 100 Servo travel multiplier for the PITCH axis in MANUAL flight mode [0-100]%
manual_roll_rate 100 Servo travel multiplier for the ROLL axis in MANUAL flight mode [0-100]%
manual_yaw_rate 100 Servo travel multiplier for the YAW axis in MANUAL flight mode [0-100]%
tpa_rate 0 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.
tpa_breakpoint 1500 See tpa_rate.
fw_tpa_time_constant 0 TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. Planes with low thrust/weight ratio generally need higher time constant. Default is zero for compatibility with old setups
fw_autotune_overshoot_time 100 Time [ms] to detect sustained overshoot
fw_autotune_undershoot_time 200 Time [ms] to detect sustained undershoot
fw_autotune_threshold 50 Threshold [%] of max rate to consider overshoot/undershoot detection
fw_autotune_ff_to_p_gain 10 FF to P gain (strength relationship) [%]
fw_autotune_ff_to_i_tc 600 FF to I time (defines time for I to reach the same level of response as FF) [ms]
stats OFF General switch of the statistics recording feature (a.k.a. odometer)
stats_total_time 0 Total flight time [in seconds]. The value is updated on every disarm when "stats" are enabled.
stats_total_dist 0 Total flight distance [in meters]. The value is updated on every disarm when "stats" are enabled.
vbat_adc_channel - ADC channel to use for battery voltage sensor. Defaults to board VBAT input (if available). 0 = disabled
rssi_adc_channel - ADC channel to use for analog RSSI input. Defaults to board RSSI input (if available). 0 = disabled
current_adc_channel - ADC channel to use for analog current sensor input. Defaults to board CURRENT sensor input (if available). 0 = disabled
airspeed_adc_channel 0 ADC channel to use for analog pitot tube (airspeed) sensor. If board doesn't have a dedicated connector for analog airspeed sensor will default to 0

This Markdown table is made by MarkdwonTableMaker addon for google spreadsheet. Original Spreadsheet used to make this table can be found here https://docs.google.com/spreadsheets/d/1ubjYdMGmZ2aAMUNYkdfe3hhIF7wRfIjcuPOi_ysmp00/edit?usp=sharing