INAV Fixed-wing navigation and launch: CLI settings

Navigation for planes and flying wings: cruise, minimum and maximum throttle, pitch-to-throttle, loiter radius, the altitude and heading controllers, auto launch and auto landing. Throttle figures sit in the battery profile, the controller gains in the control profile.

63 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
`fw_loiter_direction` #	uint8 global	RIGHT, LEFT, YAW	`RIGHT`	✓	✓	✓	Direction of loitering: center point on right wing (clockwise - default), or center point on left wing (counterclockwise). If equal YAW then can be changed in flight using a yaw stick.
`fw_min_throttle_down_pitch` #	uint16 global	0 to 450	`0`	✓	✓	✓	Automatic pitch down angle when throttle is at 0 in angle mode. Progressively applied between cruise throttle and zero throttle (decidegrees)
`nav_fw_allow_manual_thr_increase` #	uint8 global	OFF, ON	`OFF`	✓	✓	✓	Enable the possibility to manually increase the throttle in auto throttle controlled modes for fixed wing
`nav_fw_alt_control_response` #	uint8 control profile	5 to 100	`40`	✓	✓	✓	Adjusts the deceleration response of fixed wing altitude control as the target altitude is approached. Decrease value to help avoid overshooting the target altitude.
`nav_fw_alt_use_position` #	uint8 control profile	OFF, ON	`OFF`	—	✓	✓	Use position for fixed wing altitude control rather than velocity (default method).
`nav_fw_auto_climb_rate` #	uint16 global	10 to 2000	`500`	✓	✓	✓	Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s]
`nav_fw_bank_angle` #	uint8 global	5 to 80	`35`	✓	✓	✓	Max roll angle when rolling / turning in GPS assisted modes, is also restrained by global max_angle_inclination_rll
`nav_fw_climb_angle` #	uint8 global	5 to 80	`20`	✓	✓	✓	Max pitch angle when climbing in GPS assisted modes, is also restrained by global max_angle_inclination_pit
`nav_fw_control_smoothness` #	uint8 global	0 to 9	`0`	✓	✓	✓	How smoothly the autopilot controls the airplane to correct the navigation error
`nav_fw_cruise_speed` #	uint16 global	0 to 65535	`0`	✓	✓	✓	Speed for the plane/wing at cruise throttle used for remaining flight time/distance estimation in cm/s
`nav_fw_cruise_thr` #	uint16 battery profile	1000 to 2000	`1400`	✓	✓	✓	Cruise throttle in GPS assisted modes, this includes RTH. Should be set high enough to avoid stalling. This values gives INAV a base for throttle when flying straight, and it will increase or decrease throttle based on pitch of airplane and the parameters below. In addition it will increase throttle if GPS speed gets below 7m/s ( hardcoded )
`nav_fw_dive_angle` #	uint8 global	5 to 80	`15`	✓	✓	✓	Max negative pitch angle when diving in GPS assisted modes, is also restrained by global max_angle_inclination_pit
`nav_fw_heading_p` #	uint16 control profile	0 to 255	`60`	✓	✓	✓	P gain of Heading Hold controller (Fixedwing)
`nav_fw_land_approach_length` #	uint32 global	100 to 100000	`35000` needs USE_FW_AUTOLAND	✓	✓	✓	Length of the final approach
`nav_fw_land_dive_angle` #	int8 global	-20 to 20	`2`	✓	✓	✓	Dive angle that airplane will use during final landing phase. During dive phase, motor is stopped or IDLE and roll control is locked to 0 degrees
`nav_fw_land_final_approach_pitch2throttle_mod` #	uint16 global	100 to 400	`100` needs USE_FW_AUTOLAND	✓	✓	✓	Modifier for pitch to throttle ratio at final approach. In Percent.
`nav_fw_land_flare_alt` #	uint16 global	0 to 10000	`150` needs USE_FW_AUTOLAND	✓	✓	✓	Initial altitude of the flare phase
`nav_fw_land_flare_pitch` #	uint8 global	-15 to 45	`8` needs USE_FW_AUTOLAND	✓	✓	✓	Pitch value for flare phase. In degrees The CLI accepts -15 to 45, but the firmware stores this setting in a uint8_t field (0 to 255), so a value outside that range wraps around: -15 reads back as 241.
`nav_fw_land_glide_alt` #	uint16 global	100 to 5000	`200` needs USE_FW_AUTOLAND	✓	✓	✓	Initial altitude of the glide phase
`nav_fw_land_glide_pitch` #	int8 global	-15 to 45	`0` needs USE_FW_AUTOLAND	✓	✓	✓	Pitch value for glide phase. In degrees.
`nav_fw_land_max_tailwind` #	uint16 global	0 to 3000	`140` needs USE_FW_AUTOLAND	✓	✓	✓	Max. tailwind (in cm/s) if no landing direction with downwind is available
`nav_fw_launch_accel` #	uint16 global	1350 to 20000	`1863`	✓	✓	✓	Forward acceleration threshold for bungee launch or throw launch [cm/s/s], 1G = 981 cm/s/s
`nav_fw_launch_climb_angle` #	uint8 global	5 to 45	`18`	✓	✓	✓	Climb angle (attitude of model, not climb slope) for launch sequence (degrees), is also restrained by global max_angle_inclination_pit
`nav_fw_launch_detect_time` #	uint16 global	10 to 1000	`40`	✓	✓	✓	Time for which thresholds have to breached to consider launch happened [ms]
`nav_fw_launch_end_time` #	uint16 global	0 to 5000	`3000`	✓	✓	✓	Time for the transition of throttle and pitch angle, between the launch state and the subsequent flight mode [ms]
`nav_fw_launch_idle_motor_delay` #	uint16 global	0 to 60000	`0`	✓	✓	✓	Delay between raising throttle and motor starting at idle throttle (ms)
`nav_fw_launch_idle_thr` #	uint16 battery profile	1000 to 2000	`1000`	✓	✓	✓	Launch idle throttle - throttle to be set before launch sequence is initiated. If set below minimum throttle it will force motor stop or at idle throttle (depending if the MOTOR_STOP is enabled). If set above minimum throttle it will force throttle to this value (if MOTOR_STOP is enabled it will be handled according to throttle stick position)
`nav_fw_launch_land_abort_deadband` #	uint8 global	2 to 250	`100`	✓	✓	✓	Launch and landing abort stick deadband in [r/c points], applied after r/c deadband and expo. The Roll/Pitch stick needs to be deflected beyond this deadband to abort the launch or landing.
`nav_fw_launch_manual_throttle` #	uint8 global	OFF, ON	`OFF`	✓	✓	✓	Allows launch with manually controlled throttle. INAV only levels wings and controls climb pitch during launch. Throttle is controlled directly by throttle stick movement. IF USED WITHOUT A GPS LOCK plane must be launched immediately after throttle is increased to avoid issues with climb out stabilisation and the launch ending sooner than expected (launch end timer starts as soon as the throttle stick is raised).
`nav_fw_launch_max_altitude` #	uint16 global	0 to 60000	`0`	✓	✓	✓	Altitude (centimeters) at which LAUNCH mode will be turned off and regular flight mode will take over [0-60000].
`nav_fw_launch_max_angle` #	uint8 global	5 to 180	`45`	✓	✓	✓	Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg]
`nav_fw_launch_min_time` #	uint16 global	0 to 60000	`0`	✓	✓	✓	Allow launch mode to execute at least this time (ms) and ignore stick movements [0-60000].
`nav_fw_launch_motor_delay` #	uint16 global	0 to 5000	`500`	✓	✓	✓	Delay between detected launch and launch sequence start and throttling up (ms)
`nav_fw_launch_spinup_time` #	uint16 global	0 to 1000	`100`	✓	✓	✓	Time to bring power from minimum throttle to nav_fw_launch_thr - to avoid big stress on ESC and large torque from propeller
`nav_fw_launch_thr` #	uint16 battery profile	1000 to 2000	`1700`	✓	✓	✓	Launch throttle - throttle to be set during launch sequence (pwm units)
`nav_fw_launch_timeout` #	uint16 global	0 to 60000	`5000`	✓	✓	✓	Maximum time for launch sequence to continue after throwing. After this time LAUNCH mode will end and regular flight mode will take over (ms)
`nav_fw_launch_velocity` #	uint16 global	100 to 10000	`300`	✓	✓	✓	Forward velocity threshold for swing-launch detection [cm/s]
`nav_fw_launch_wiggle_to_wake_idle` #	uint8 global	0 to 2	`0`	✓	✓	✓	Trigger the idle throttle by wiggling the plane. 0 = disabled. 1 and 2 signify 1 or 2 yaw wiggles to activate. 1 wiggle has a higher detection point, for airplanes without a tail. 2 wiggles has a lower detection point, but requires the repeated action. This is intended for larger models and airplanes with tails.
`nav_fw_loiter_radius` #	uint16 global	0 to 30000	`7500`	✓	✓	✓	PosHold radius. 3000 to 7500 is a good value (30-75m) [cm]
`nav_fw_manual_climb_rate` #	uint16 global	10 to 2500	`300`	✓	✓	✓	Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]
`nav_fw_max_thr` #	uint16 battery profile	1000 to 2000	`1700`	✓	✓	✓	Maximum throttle for flying wing in GPS assisted modes
`nav_fw_min_thr` #	uint16 battery profile	1000 to 2000	`1200`	✓	✓	✓	Minimum throttle for flying wing in GPS assisted modes
`nav_fw_pitch2thr` #	uint8 battery profile	0 to 100	`10`	✓	✓	✓	Amount of throttle applied related to pitch attitude in GPS assisted modes. Throttle = nav_fw_cruise_throttle - (nav_fw_pitch2thr * pitch_angle). (notice that pitch_angle is in degrees and is negative when climbing and positive when diving, and throttle value is constrained between nav_fw_min_thr and nav_fw_max_thr)
`nav_fw_pitch2thr_smoothing` #	uint16 global	0 to 9	`6`	✓	✓	✓	How smoothly the autopilot makes pitch to throttle correction inside a deadband defined by pitch_to_throttle_thresh.
`nav_fw_pitch2thr_threshold` #	uint8 global	0 to 900	`50`	✓	✓	✓	Threshold from average pitch where momentary pitch_to_throttle correction kicks in. [decidegrees] The CLI accepts 0 to 900, but the firmware stores this setting in a uint8_t field (0 to 255), so a value outside that range wraps around: 900 reads back as 132.
`nav_fw_pos_hdg_d` #	uint16 control profile	0 to 255	`0`	✓	✓	✓	D gain of heading trajectory PID controller. (Fixedwing, rovers, boats)
`nav_fw_pos_hdg_i` #	uint16 control profile	0 to 255	`2`	✓	✓	✓	I gain of heading trajectory PID controller. (Fixedwing, rovers, boats)
`nav_fw_pos_hdg_p` #	uint16 control profile	0 to 255	`30`	✓	✓	✓	P gain of heading PID controller. (Fixedwing, rovers, boats)
`nav_fw_pos_hdg_pidsum_limit` #	uint16 control profile	100 to 1000	`350`	✓	✓	✓	Output limit for heading trajectory PID controller. (Fixedwing, rovers, boats)
`nav_fw_pos_xy_d` #	uint16 control profile	0 to 255	`8`	✓	✓	✓	D gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero
`nav_fw_pos_xy_i` #	uint16 control profile	0 to 255	`5`	✓	✓	✓	I gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero
`nav_fw_pos_xy_p` #	uint16 control profile	0 to 255	`75`	✓	✓	✓	P gain of 2D trajectory PID controller. Play with this to get a straight line between waypoints or a straight RTH
`nav_fw_pos_z_d` #	uint16 control profile	0 to 255	`10`	✓	✓	✓	D gain of altitude PID controller (Fixedwing)
`nav_fw_pos_z_ff` #	uint16 control profile	0 to 255	`30`	✓	Δ	✓	FF gain of altitude PID controller. Not used if nav_fw_alt_use_position is set ON (Fixedwing) 9.0: default 10 → 30
`nav_fw_pos_z_i` #	uint16 control profile	0 to 255	`5`	✓	✓	✓	I gain of altitude PID controller (Fixedwing)
`nav_fw_pos_z_p` #	uint16 control profile	0 to 255	`30`	✓	✓	✓	P gain of altitude PID controller (Fixedwing)
`nav_fw_soaring_motor_stop` #	uint8 global	OFF, ON	`OFF`	✓	✓	✓	Stops motor when Soaring mode enabled.
`nav_fw_soaring_pitch_deadband` #	uint8 global	0 to 15	`5`	✓	✓	✓	Pitch Angle deadband when soaring mode enabled (deg). Angle mode inactive within deadband allowing pitch to free float whilst soaring.
`nav_fw_wp_tracking_accuracy` #	uint8 global	0 to 10	`0`	✓	✓	✓	Waypoint tracking accuracy forces the craft to quickly head toward and track along the waypoint course line as closely as possible. Setting adjusts tracking deadband distance fom waypoint courseline [m]. Tracking isn't actively controlled within the deadband providing smoother flight adjustments but less accurate tracking. A 2m deadband should work OK in most cases. Setting to 0 disables waypoint tracking accuracy.
`nav_fw_wp_tracking_max_angle` #	uint8 global	30 to 80	`60`	✓	✓	✓	Sets the maximum allowed alignment convergence angle to the waypoint course line when nav_fw_wp_tracking_accuracy is active [degrees]. Lower values result in smoother alignment with the course line but will take more distance until this is achieved.
`nav_fw_wp_turn_smoothing` #	uint8 global	OFF, ON, ON-CUT	`OFF`	✓	✓	✓	Smooths turns during WP missions by switching to a loiter turn at waypoints. When set to ON the craft will reach the waypoint during the turn. When set to ON-CUT the craft will turn inside the waypoint without actually reaching it (cuts the corner).
`nav_fw_yaw_deadband` #	uint8 global	0 to 90	`0`	✓	✓	✓	Deadband for heading trajectory PID controller. When heading error is below the deadband, controller assumes that vehicle is on course
`nav_use_fw_yaw_control` #	uint8 global	OFF, ON	`OFF`	✓	✓	✓	Enables or Disables the use of the heading PID controller on fixed wing. Heading PID controller is always enabled for rovers and boats

✓ 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)
Position estimator (23)
GPS (11)
Accelerometer, compass and other sensors (56)
Receiver and RC input (21)
Failsafe and arming (18)
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.