INAV Failsafe and arming: CLI settings

What the craft does when the receiver link is lost (the failsafe procedure, delays, minimum distance, fixed-wing glide angles, failsafe throttle) and the arming and disarming rules.

18 settings in INAV 9.1. Each range and value list is read from the release's src/main/fc/settings.yaml, each default from the release's settings.yaml, with each constant and C type resolved by INAV's own settings.rb against the SITL and flight-controller target headers, 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	8.0	9.0	9.1	Notes
`disarm_always` #	uint8 global	OFF, ON	`ON`	✓	✓	✓	When you switch to Disarm, do so regardless of throttle position. If this Setting is `OFF`. It will only disarm only when the throttle is low. This is similar to the previous `disarm_kill_switch` option. Default setting is the same as the old default behaviour.
`failsafe_delay` #	uint8 global	0 to 200	`5`	✓	✓	✓	Time in deciseconds to wait before activating failsafe when signal is lost. See [Failsafe documentation](Failsafe.md#failsafe_delay).
`failsafe_fw_pitch_angle` #	int16 global	-800 to 800	`100`	✓	✓	✓	Amount of dive/climb when `LAND` (or old `SET-THR`) failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = climb
`failsafe_fw_roll_angle` #	int16 global	-800 to 800	`-200`	✓	✓	✓	Amount of banking when `LAND` (or old `SET-THR`) failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = left roll
`failsafe_fw_yaw_rate` #	int16 global	-1000 to 1000	`-45`	✓	✓	✓	Requested yaw rate to execute when `LAND` (or old `SET-THR`) failsafe is active on a fixed-wing machine. In deg/s. Negative values = left turn
`failsafe_gps_fix_estimation_delay` #	int16 global	-1 to 600	`7` needs USE_GPS_FIX_ESTIMATION	✓	✓	✓	Controls whether waypoint mission is allowed to proceed with gps fix estimation. Sets the time delay in seconds between gps fix lost event and RTH activation. Minimum delay is 7 seconds. If set to -1 the mission will continue until the end. With default setting(7), waypoint mission is aborted and switched to RTH with 7 seconds delay. RTH is done with GPS Fix estimation.
`failsafe_min_distance` #	uint16 global	0 to 65000	`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` #	uint8 global	LAND, DROP, RTH, NONE	`DROP`	✓	✓	✓	What failsafe procedure to initiate in Stage 2 when craft is closer to home than failsafe_min_distance. See [Failsafe documentation](Failsafe.md#failsafe_throttle).
`failsafe_mission_delay` #	int16 global	-1 to 600	`0`	✓	✓	✓	Applies if failsafe occurs when a WP mission is in progress. Sets the time delay in seconds between failsafe occurring and the selected failsafe procedure activating. If set to -1 the failsafe procedure won't activate at all and the mission will continue until the end.
`failsafe_off_delay` #	uint8 global	0 to 200	`200`	✓	✓	✓	Time in deciseconds to wait before turning off motors when failsafe is activated. 0 = No timeout. See [Failsafe documentation](Failsafe.md#failsafe_off_delay).
`failsafe_procedure` #	uint8 global	LAND, DROP, RTH, NONE	`LAND`	✓	✓	✓	What failsafe procedure to initiate in Stage 2. See [Failsafe documentation](Failsafe.md#failsafe_throttle).
`failsafe_recovery_delay` #	uint8 global	0 to 200	`5`	✓	✓	✓	Time in deciseconds to wait before aborting failsafe when signal is recovered. See [Failsafe documentation](Failsafe.md#failsafe_recovery_delay).
`failsafe_stick_threshold` #	uint16 global	0 to 500	`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_throttle` #	uint16 battery profile	1000 to 2000	`1000`	✓	✓	✓	Throttle level used for landing when failsafe is enabled. See [Failsafe documentation](Failsafe.md#failsafe_throttle).
`failsafe_throttle_low_delay` #	uint16 global	0 to 300	`0`	✓	✓	✓	If failsafe activated when throttle is low for this much time - bypass failsafe and disarm, in 10th of seconds. 0 = No timeout
`fixed_wing_auto_arm` #	uint8 global	OFF, ON	`OFF`	✓	✓	✓	Auto-arm fixed wing aircraft on throttle above min_check, and disarming with stick commands are disabled, so power cycle is required to disarm. Requires enabled motorstop and no arm switch configured.
`prearm_timeout` #	uint16 global	0 to 10000	`10000`	✓	✓	✓	Duration (ms) for which Prearm being activated is valid. after this, Prearm needs to be reset. 0 means Prearm does not timeout.
`switch_disarm_delay` #	uint16 global	0 to 1000	`250`	✓	✓	✓	Delay before disarming when requested by switch (ms) [0-1000]

✓ 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 target that does not define it has no such setting.Descriptions are INAV's own, from settings.yaml.

Other sections

Gyro and D-term filters (28)
PID tuning (74)
Rates, expo and TPA (32)
Navigation, RTH and waypoints (53)
Multirotor navigation (31)
Fixed-wing navigation and launch (63)
Position estimator (23)
GPS (11)
Accelerometer, compass and other sensors (56)
Receiver and RC input (21)
Motors, ESC and beeper (15)
Mixer profiles (12)
Servos, gimbal and head tracker (19)
Battery, current sensor and power limits (35)
OSD (114)
Video transmitter (12)
Telemetry (31)
Blackbox, logging and stats (12)
System (13)

What changed between releases: 8.0 → 9.0 · 9.0 → 9.1. Machine-readable: params.json (9.1.0), GPL-3.0 like the firmware it comes from.