Betaflight Autopilot, position and altitude hold: CLI settings
Altitude hold, position hold and the autopilot navigation settings of recent releases: hover throttle, position and altitude PIDs, landing and waypoint behaviour.
66 settings in Betaflight 2026.6, plus 1 that earlier releases had.
Each range and value list is read from the firmware's settings.c, each default from the
CLI get of the release built for the simulator (no board config applied), so a board's own
config can still change it. Set one with set name = value, then save.
Paste a diff all into the CLI checker to test it against any release.
| Setting | Type | Range or values | Default | 4.4 | 4.5 | 2025.12 | 2026.6 | Notes |
|---|---|---|---|---|---|---|---|---|
alt_hold_climb_rate # |
uint8 global |
0 to 200 | 50needs USE_ALTITUDE_HOLD, USE_WING |
— | — | ✓ | ✓ | |
alt_hold_deadband # |
uint8 global |
0 to 70 | 20needs USE_ALTITUDE_HOLD, USE_WING |
— | — | ✓ | ✓ | |
altitude_d_lpf # |
uint16 global |
10 to 5000 | 300 |
✓ | ✓ | ✓ | Δ | 2026.6: max 1000 → 5000; default 100 → 300 |
altitude_lpf # |
uint16 global |
10 to 5000 | 300 |
✓ | ✓ | ✓ | Δ | 2026.6: max 1000 → 5000 |
altitude_prefer_baro # |
int8 global |
0 to 100 | 100 |
✓ | ✓ | ✓ | ✓ | |
altitude_source # |
int8 global |
DEFAULT, BARO_ONLY, GPS_ONLY, RANGEFINDER_PREFER, RANGEFINDER_ONLY | DEFAULT |
✓ | ✓ | ✓ | Δ | 2026.6: new values RANGEFINDER_PREFER, RANGEFINDER_ONLY |
ap_altitude_d # |
uint8 global |
0 to 200 | 30needs USE_WING |
— | — | ✓ | Δ | 2026.6: default 15 → 30 |
ap_altitude_f # |
uint8 global |
0 to 200 | 30needs USE_WING |
— | — | ✓ | Δ | 2026.6: default 15 → 30 |
ap_altitude_i # |
uint8 global |
0 to 200 | 30needs USE_WING |
— | — | ✓ | Δ | 2026.6: default 15 → 30 |
ap_altitude_p # |
uint8 global |
0 to 200 | 30needs USE_WING |
— | — | ✓ | Δ | 2026.6: default 15 → 30 |
ap_geofence_action # |
uint8 global |
LAND, RTH | LANDneeds USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_hold_figure8_width # |
uint16 global |
500 to 10000 | 2000needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_hold_orbit_radius # |
uint16 global |
300 to 5000 | 1000needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_hover_throttle # |
uint16 global |
0 to 1700 | 1275needs USE_WING |
— | — | ✓ | Δ | 2026.6: min 1100 → 0 |
ap_l1_enable # |
uint8 global |
OFF, ON | ONneeds USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_l1_max_cross_track_error # |
uint16 global |
1000 to 50000 | 10000needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_l1_max_lookahead # |
uint16 global |
1000 to 50000 | 10000needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_l1_min_lookahead # |
uint16 global |
100 to 5000 | 1000needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_l1_period # |
uint16 global |
5 to 100 | 20needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_l1_turn_rate # |
uint8 global |
0 to 90 | 8needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_landing_altitude_m # |
uint8 global |
0 to 200 | 4needs USE_WING |
— | — | ✓ | ✓ | |
ap_landing_descent_rate # |
uint8 global |
10 to 200 | 50needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_landing_detection_time # |
uint8 global |
5 to 50 | 10needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_landing_spiral_enable # |
uint8 global |
OFF, ON | ONneeds USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_landing_spiral_radius # |
uint16 global |
50 to 2000 | 200needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_landing_spiral_rate # |
uint8 global |
1 to 45 | 10needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_landing_throttle_threshold # |
uint16 global |
10 to 500 | 100needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_landing_velocity_threshold # |
uint8 global |
10 to 200 | 50needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_max_angle # |
uint8 global |
10 to 70 | 50needs USE_WING |
— | — | ✓ | ✓ | |
ap_max_distance_from_home # |
uint16 global |
0 to 10000 | 0needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_max_turn_rate # |
uint8 global |
1 to 90 | 3needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_max_velocity # |
uint16 global |
100 to 5000 | 500needs USE_WING |
— | — | — | ✓ | |
ap_max_yaw_rate # |
uint16 global |
10 to 360 | 30needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_min_forward_velocity # |
uint16 global |
10 to 500 | 300needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_min_nav_altitude_m # |
uint8 global |
0 to 50 | 5needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_nav_accel # |
uint16 global |
20 to 1000 | 250needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_nav_carrot_lead_max # |
uint16 global |
600 to 6000 | 2500needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_nav_carrot_lead_time # |
uint8 global |
2 to 40 | 12needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_nav_corner_delta_v # |
uint16 global |
100 to 4000 | 440needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_nav_corner_speed # |
uint16 global |
50 to 2000 | 220needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_nav_decel # |
uint16 global |
20 to 1000 | 250needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_nav_preturn_dist # |
uint16 global |
500 to 5000 | 1500needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_position_a # |
uint8 global |
0 to 200 | 30needs USE_WING |
— | — | ✓ | ✓ | |
ap_position_cutoff # |
uint8 global |
10 to 50 | 30needs USE_WING |
— | — | ✓ | Δ | 2026.6: max 250 → 50; default 80 → 30 |
ap_position_d # |
uint8 global |
0 to 200 | 30needs USE_WING |
— | — | ✓ | ✓ | |
ap_position_f # |
uint8 global |
0 to 200 | 30needs USE_WING |
— | — | — | ✓ | |
ap_position_i # |
uint8 global |
0 to 200 | 30needs USE_WING |
— | — | ✓ | ✓ | |
ap_position_p # |
uint8 global |
0 to 200 | 30needs USE_WING |
— | — | ✓ | ✓ | |
ap_rx_loss_policy # |
uint8 global |
DISABLE, CONTINUE, LAND | DISABLEneeds USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_stick_deadband # |
uint16 global |
0 to 500 | 50needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_stop_threshold # |
uint8 global |
0 to 100 | 10needs USE_WING |
— | — | — | ✓ | |
ap_throttle_deadband # |
uint16 global |
0 to 500 | 50needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_throttle_max # |
uint16 global |
1400 to 2000 | 1900needs USE_WING |
— | — | ✓ | Δ | 2026.6: default 1700 → 1900 |
ap_throttle_min # |
uint16 global |
1050 to 1400 | 1100needs USE_WING |
— | — | ✓ | ✓ | |
ap_velocity_buildup_max_pitch # |
uint8 global |
0 to 20 | 8needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_velocity_drag_coeff # |
uint8 global |
0 to 100 | 50needs USE_WING |
— | — | — | ✓ | |
ap_waypoint_arrival_radius # |
uint16 global |
100 to 5000 | 500needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_waypoint_hold_radius # |
uint16 global |
50 to 1000 | 200needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_yaw_d # |
uint16 global |
0 to 200 | 10needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_yaw_mode # |
uint8 global |
VELOCITY, BEARING, HYBRID, FIXED, DAMPENER | VELOCITYneeds USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_yaw_p # |
uint16 global |
0 to 500 | 50needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
pos_hold_deadband # |
uint8 global |
0 to 50 | 5needs USE_POSITION_HOLD, USE_WING |
— | — | ✓ | ✓ | |
pos_hold_without_mag # |
uint8 global |
OFF, ON | OFFneeds USE_POSITION_HOLD, USE_WING |
— | — | ✓ | — | Removed in 2026.6. |
poshold_opticalflow_max_range # |
uint16 global |
50 to 1000 | 400needs USE_POSITION_HOLD, USE_WING |
— | — | — | ✓ | |
poshold_opticalflow_quality_min # |
uint8 global |
0 to 100 | 30needs USE_POSITION_HOLD, USE_WING |
— | — | — | ✓ | |
poshold_position_source # |
uint8 global |
AUTO, GPS_ONLY, OPTICALFLOW_ONLY | AUTOneeds USE_POSITION_HOLD, USE_WING |
— | — | — | ✓ | |
rangefinder_max_range_cm # |
uint16 global |
50 to 1000 | 400 |
— | — | — | ✓ |
✓ present, Δ changed in that release (hover for what changed), — not in that release. “needs USE_…” is the build option the setting is compiled with: a cloud build without it has no such setting.
Other sections
- Gyro and D-term filters (27)
- PID tuning (73)
- Angle, horizon and launch modes (20)
- Rates and throttle curve (25)
- Motors and ESC (23)
- Receiver and RC link (32)
- Failsafe and arming (14)
- GPS (14)
- GPS rescue (12)
- Battery and current sensor (28)
- OSD (49)
- OSD element positions (90)
- VTX and camera control (12)
- Blackbox and debug (20)
- Telemetry and serial (44)
- LED strip and beeper (12)
- Sensors and board alignment (35)
- System and hardware (25)
What changed between releases: 4.4 → 4.5 · 4.5 → 2025.12 · 2025.12 → 2026.6. Machine-readable: params.json (2026.6.2), GPL-3.0 like the firmware it comes from.