Betaflight GPS rescue: CLI settings

Return-to-home on failsafe or switch: return altitude and speed, climb and descent, sanity checks and minimum satellite count.

12 settings in Betaflight 2026.6, plus 16 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
`gps_rescue_allow_arming_without_fix` #	uint8 global	OFF, ON	`OFF` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	✓	✓	✓
`gps_rescue_alt_mode` #	uint8 global	MAX_ALT, FIXED_ALT, CURRENT_ALT	`MAX_ALT` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	✓	✓	✓
`gps_rescue_ascend_rate` #	uint16 global	50 to 2500	`750` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	✓	✓	✓
`gps_rescue_descend_rate` #	uint16 global	25 to 500	`150` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	✓	✓	✓
`gps_rescue_descent_dist` #	uint16 global	5 to 500	`20` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	✓	✓	Δ	2026.6: min 10 → 5
`gps_rescue_disarm_threshold` #	uint8 global	1 to 250	`30` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	✓	Δ	—	2025.12: default 20 → 30 Removed in 2026.6.
`gps_rescue_ground_speed` #	uint16 global	0 to 3000	`750` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	✓	✓	✓
`gps_rescue_imu_yaw_gain` #	uint8 global	5 to 20	`10` needs USE_GPS, USE_GPS_RESCUE, USE_WING	—	✓	✓	—	Removed in 2026.6.
`gps_rescue_initial_climb` #	uint16 global	0 to 100	`10` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	Δ	✓	✓	4.5: type uint8 → uint16
`gps_rescue_landing_alt` #	uint8 global	1 to 15	`4` needs USE_GPS, USE_GPS_RESCUE	✓	✓	—	—	Removed in 2025.12.
`gps_rescue_max_angle` #	uint8 global	30 to 60	`45` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	Δ	✓	—	4.5: min 0 → 30; max 80 → 60 Removed in 2026.6.
`gps_rescue_min_sats` #	uint8 global	5 to 50	`8` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	✓	✓	✓
`gps_rescue_min_start_dist` #	uint16 global	5 to 30	`15` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	✓	✓	Δ	2026.6: min 10 → 5
`gps_rescue_pitch_cutoff` #	uint8 global	10 to 255	`75` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	✓	✓	—	Removed in 2026.6.
`gps_rescue_return_alt` #	uint16 global	5 to 1000	`30` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	Δ	✓	✓	4.5: type uint8 → uint16; min 2 → 5; max 255 → 1000
`gps_rescue_roll_mix` #	uint8 global	0 to 250	`150` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	✓	✓	—	Removed in 2026.6.
`gps_rescue_sanity_checks` #	uint8 global	RESCUE_SANITY_OFF, RESCUE_SANITY_ON, RESCUE_SANITY_FS_ONLY	`RESCUE_SANITY_FS_ONLY` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	✓	✓	✓
`gps_rescue_throttle_d` #	uint8 global	0 to 255	`20` needs USE_GPS, USE_GPS_RESCUE	✓	✓	—	—	Removed in 2025.12.
`gps_rescue_throttle_hover` #	uint16 global	1000 to 2000	`1275` needs USE_GPS, USE_GPS_RESCUE	✓	✓	—	—	Removed in 2025.12.
`gps_rescue_throttle_i` #	uint8 global	0 to 255	`15` needs USE_GPS, USE_GPS_RESCUE	✓	✓	—	—	Removed in 2025.12.
`gps_rescue_throttle_max` #	uint16 global	1000 to 2000	`1700` needs USE_GPS, USE_GPS_RESCUE	✓	✓	—	—	Removed in 2025.12.
`gps_rescue_throttle_min` #	uint16 global	1000 to 2000	`1100` needs USE_GPS, USE_GPS_RESCUE	✓	✓	—	—	Removed in 2025.12.
`gps_rescue_throttle_p` #	uint8 global	0 to 255	`15` needs USE_GPS, USE_GPS_RESCUE	✓	✓	—	—	Removed in 2025.12.
`gps_rescue_use_mag` #	uint8 global	OFF, ON	`set by the target` needs USE_GPS, USE_GPS_RESCUE, USE_WING, USE_MAG	✓	✓	✓	—	Removed in 2026.6.
`gps_rescue_velocity_d` #	uint8 global	0 to 200	`12` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	✓	Δ	—	2025.12: max 255 → 200 Removed in 2026.6.
`gps_rescue_velocity_i` #	uint8 global	0 to 200	`40` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	✓	Δ	—	2025.12: max 255 → 200 Removed in 2026.6.
`gps_rescue_velocity_p` #	uint8 global	0 to 200	`8` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	✓	Δ	—	2025.12: max 255 → 200 Removed in 2026.6.
`gps_rescue_yaw_p` #	uint8 global	0 to 200	`20` needs USE_GPS, USE_GPS_RESCUE, USE_WING	✓	✓	Δ	✓	2025.12: max 255 → 200

✓ 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)
Autopilot, position and altitude hold (66)
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.