INAV CLI settings reference
673 settings of INAV 9.1.0 in 20 sections, each with its type, range or values and default, and a column per release from 8.0.1 to 9.1.0.
Sections
| Section | Settings in 9.1 | What it covers |
|---|---|---|
| Gyro and D-term filters | 28 | Gyro lowpass, dynamic gyro notch, adaptive and LULU filters, the RPM filter and the D-term lowpass. These decide how much motor noise... |
| PID tuning | 74 | P, I, D and feedforward gains per axis for multirotors and fixed wing, I-term relax, D-boost, anti-gravity, heading hold, fixed-wing... |
| Rates, expo and TPA | 32 | Stick rates and expo for roll, pitch and yaw (and for MANUAL mode on fixed wing), rate dynamics, throttle mid and expo, TPA, and the... |
| Navigation, RTH and waypoints | 53 | The settings every navigation mode shares: return to home (climb, altitude modes, linear descent, trackback), waypoint missions, landing... |
| Multirotor navigation | 31 | Position hold, altitude hold and RTH behaviour for multirotors: bank and climb limits, braking, hover throttle and the position and... |
| Fixed-wing navigation and launch | 63 | Navigation for planes and flying wings: cruise, minimum and maximum throttle, pitch-to-throttle, loiter radius, the altitude and heading... |
| Position estimator | 23 | The inertial navigation estimator: how much it trusts GPS, barometer, optical flow and the rangefinder for position and altitude (the... |
| GPS | 11 | GPS protocol, baud detection, the u-blox constellations (Galileo, BeiDou, GLONASS), SBAS, navigation rate, dynamic model and the minimum... |
| Accelerometer, compass and other sensors | 56 | Hardware selection, alignment and calibration values for the accelerometer, gyro, compass, barometer, pitot tube, rangefinder and... |
| Receiver and RC input | 21 | Receiver type and serial protocol, inversion and half duplex, RSSI source and range, valid pulse limits, the RC smoothing filter, MSP RC... |
| Failsafe and arming | 18 | What the craft does when the receiver link is lost (the failsafe procedure, delays, minimum distance, fixed-wing glide angles, failsafe... |
| Motors, ESC and beeper | 15 | Motor protocol and update rate, minimum command, motor poles, idle throttle and throttle scale, 3D (reversible) neutral and deadbands,... |
| Mixer profiles | 12 | Platform type, motor direction, motor stop, flaps and the VTOL transition settings of a mixer profile: `mixer_profile N` selects which... |
| Servos, gimbal and head tracker | 19 | Servo protocol, rate, centre pulse and filter, autotrim and flaperon throw, plus camera gimbal channels and trims and the head tracker ratios. |
| Battery, current sensor and power limits | 35 | Voltage and current sensor scale and offset, cell count and cell voltages, capacity and its warning levels, RTH energy margin, and the... |
| OSD | 114 | On-screen display settings: units, alarms (RSSI, battery, altitude, distance, flight time), the artificial horizon, crosshair and HUD,... |
| Video transmitter | 12 | VTX band, channel, power and pit mode, the low-power-on-disarm option, maximum power override and the SmartAudio and Tramp serial workarounds. |
| Telemetry | 31 | Telemetry protocols and their options: FrSky SmartPort and F.Port, IBUS, HoTT, LTM, MAVLink stream rates and IDs, cell voltage reporting... |
| Blackbox, logging and stats | 12 | Blackbox device and logging rate, arming control of the log, debug logging topics, and the flight statistics INAV keeps across flights. |
| System | 13 | Craft and pilot name, loop time, debug mode, I2C speed, throttle tilt compensation, time zone, PINIO box assignments and the serial... |
Changes between releases
- 8.0 → 9.0: 14 new, 1 removed, 3 renamed, 11 changed
- 9.0 → 9.1: 0 new, 0 removed, 0 renamed, 5 changed
Releases and files
| Release | Settings | Source commit | File |
|---|---|---|---|
| 9.1.0 | 673 | e519b69b02 |
params.json |
| 9.0.1 | 673 | d44f2cf6e6 |
params.json |
| 8.0.1 | 660 | ae47bcba01 |
params.json |
INAV compiles a setting only where the target's build defines its options, so each release is
read for SITL, MATEKH743, MATEKF722, REVO: a setting comes from the first of them that compiles it, and every
one that compiles it must agree on type, range and default. Not listed, because none
of these targets compiles them: failsafe_lights (needs USE_LIGHTS), failsafe_lights_flash_period (needs USE_LIGHTS), failsafe_lights_flash_on_time (needs USE_LIGHTS), ground_test_mode (needs USE_DEV_TOOLS).
How the figures are read, and what the files hold: firmware reference. The data is derived from INAV's source and is GPL-3.0, like the firmware.