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Cli.md

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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' or 'diff' 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

control_profile 0
dump

dump control_profiles using cli if you use them

control_profile 1
dump control_profile
control_profile 2
dump control_profile

copy screen output to a file and save it.

Alternatively, use the diff command to dump only those settings that differ from their default values (those that have been changed).

Restore via CLI.

Use the cli defaults command first.

When restoring from backup it's 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. If you blindly restore your backup you would not benefit from these new defaults or may even end up with completely wrong settings in case some parameters changed semantics and/or value ranges.

It may be good idea to restore settings using the diff output rather than complete dump. This way you can have more control on what is restored and the risk of mistakenly restoring bad values if the semantics changes is minimised.

To perform the restore simply paste the saved commands in the Configurator CLI tab and then type save.

After restoring it's always a good idea to dump or diff the settings once again and compare the output with previous one to verify if everything is set as it should be.

Flight Controller opereration while connected to the CLI

While connected to the CLI, all Logical Switches are temporarily disabled (5.1.0 onwards).

CLI Command Reference

Command Description
adjrange Configure adjustment ranges
assert
aux Configure modes
batch Start or end a batch of commands
battery_profile Change battery profile
beeper Show/set beeper (buzzer) usage
bind_rx Initiate binding for SRXL2 or CRSF receivers
blackbox Configure blackbox fields
bootlog Show init logs from serial_printf_debugging
color Configure colors
defaults Reset to defaults and reboot
dfu DFU mode on reboot
diff List configuration changes from default
dump Dump configuration
exit
feature List or enable or disable <-val>
flash_erase Erase flash chip
flash_info Show flash chip info
flash_read
flash_write
get Get variable value
gpspassthrough Passthrough gps to serial
gvar Configure global variables
help Displays CLI help and command parameters / options
led Configure leds
logic Configure logic conditions
map Configure rc channel order
memory View memory usage
mmix Custom motor mixer
mode_color Configure mode and special colors
motor Get/set motor
msc Enter USB Mass storage mode. See USB MSC documentation for usage information.
osd_layout Get or set the layout of OSD items
pid Configurable PID controllers
play_sound <index>, or none for next item
control_profile Change profile
resource View currently used resources
rxrange Configure rx channel ranges
safehome Define safe home locations. See the safehome documentation for usage information.
save Save and reboot
sd_info Sdcard info
serial Configure serial ports. Usage
serialpassthrough Passthrough serial data to port, with <id> <baud> <mode> <options>, where id is the zero based port index, baud is a standard baud rate, mode is rx, tx, or both (rxtx), and options is a short string like 8N1 or 8E2
servo Configure servos
set Change setting with name=value or blank or * for list
smix Custom servo mixer
status Show status. Error codes can be looked up here
tasks Show task stats
temp_sensor List or configure temperature sensor(s). See temperature sensors documentation for more information.
timer_output_mode Override automatic timer / pwm function allocation. Additional Information
version Show version
wp List or configure waypoints. See the navigation documentation.

Notes:

  • Available commands depend upon hardware specific and debug build options. Not all commands are available in every FC.
  • The above list shows the output available in the CLI help command. This may also show additional information.

serial

The syntax of the serial command is serial <id> <function_value> <msp-baudrate> <gps-baudrate> <telemetry-baudate> <peripheral-baudrate>.

A shorter form is also supported to enable and disable a single function using serial <id> +n and serial <id> -n, where n is the a serial function identifier. The following values are available:

Function Bit Identifier Numeric value
MSP 0 1
GPS 1 2
TELEMETRY_FRSKY 2 4
TELEMETRY_HOTT 3 8
TELEMETRY_LTM 4 16
TELEMETRY_SMARTPORT 5 32
RX_SERIAL 6 64
BLACKBOX 7 128
TELEMETRY_MAVLINK 8 256
TELEMETRY_IBUS 9 512
RCDEVICE 10 1024
VTX_SMARTAUDIO 11 2048
VTX_TRAMP 12 4096
UAV_INTERCONNECT 13 8192
OPTICAL_FLOW 14 16384
LOG 15 32768
RANGEFINDER 16 65536
VTX_FFPV 17 131072
ESCSERIAL 18 262144
TELEMETRY_SIM 19 524288
FRSKY_OSD 20 1048576
DJI_HD_OSD 21 2097152
SERVO_SERIAL 22 4194304
TELEMETRY_SMARTPORT_MASTER 23 8388608
UNUSED 24 16777216
MSP_DISPLAYPORT 25 33554432
GIMBAL_SERIAL 26 67108864
HEADTRACKER_SERIAL 27 134217728

Thus, to enable MSP and LTM on a port, one would use the function value of 17 (1 << 0)+(1<<4), aka 1+16, aka 17.

serial 0 17 57600 57600 57600 57600

but to remove LTM using the +/- shorthand, use the bit Id (4, TELEMETRY_LTM):

serial 0 -4

serial can also be used without any argument to print the current configuration of all the serial ports.

timer_output_mode

Since INAV 7, the firmware can dynamically allocate servo and motor outputs. This removes the need for bespoke targets for special cases (e.g. MATEKF405 and MATEKF405_SERVOS6).

Syntax

timer_output_mode [timer [function]]

where:

  • Without parameters, lists the current timers and modes
  • With just a timer lists the mode for that timer
  • With both timer and function, sets the function for that timers

Note:

  • timer identifies the timer index (from 0); thus is one less than the corresponding TIMn definition in a target's target.c.
  • The function is one of AUTO (the default), MOTORS or SERVOS.

Motors are allocated first, hence having a servo before a motor may require use of timer_output_mode.

Example

The original MATEKF405 target defined a multi-rotor (MR) servo on output S1. The later MATEKF405_SERVOS6 target defined (for MR) S1 as a motor and S6 as a servo. This was more logical, but annoying for anyone who had a legacy MATEKF405 tricopter with the servo on S1.

Solution

There is now a single MATEKF405 target. The target.c sets the relevant outputs as:

DEF_TIM(TIM3, CH1, PC6,  TIM_USE_OUTPUT_AUTO, 0, 0), // S1
DEF_TIM(TIM8, CH2, PC7,  TIM_USE_OUTPUT_AUTO, 0, 1), // S2  UP(2,1)
DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 1), // S3  UP(2,1)
DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0), // S4  UP(2,1)
DEF_TIM(TIM2, CH1, PA15, TIM_USE_MC_MOTOR | TIM_USE_LED, 0, 0), // S5  UP(1,7)
DEF_TIM(TIM1, CH1, PA8,  TIM_USE_OUTPUT_AUTO, 0, 0), // S6  UP(2,5)
DEF_TIM(TIM4, CH3, PB8,  TIM_USE_OUTPUT_AUTO, 0, 0), // S7  D(1,7)!S5 UP(2,6)

Using the "motors first" allocation, the servo would end up on S6, which in the legacy "tricopter servo on S1" case is not desired.

Forcing the S1 output (TIM3) to servo is achieved by:

timer_output_mode 2 SERVOS

with resulting resource output:

C06: SERVO4 OUT
C07: MOTOR1 OUT
C08: MOTOR2 OUT
C09: MOTOR3 OUT

Note that the timer index in the timer_output_mode line is one less than the mnemonic in target.c, timer of 2 for TIM3.

Note that the usual caveat that one should not share a timer with both a motor and a servo still apply.

Flash chip management

For targets that have a flash data chip, typically used for blackbox logs, the following additional comamnds are provided.

Command Effect
flash_erase Erases the flash chip
flash_info Displays flash chip information (used, free etc.)
flash_read <length> <address> Reads length bytes from address
flash_write <address> <data> Writes data to address

CLI Variable Reference

See Settings.md.