INAV Mixer profiles: CLI settings
Platform type, motor direction, motor stop, flaps and the VTOL transition settings of a mixer profile: `mixer_profile N` selects which copy `set` changes, and INAV can switch profiles in flight.
12 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 |
|---|---|---|---|---|---|---|---|
has_flaps # |
uint8 mixer profile |
OFF, ON | OFF |
✓ | ✓ | ✓ | Defines is UAV is capable of having flaps. If ON and AIRPLANE `platform_type` is used, **FLAPERON** flight mode will be available for the pilot |
mixer_automated_switch # |
uint8 mixer profile |
OFF, ON | OFF |
✓ | ✓ | ✓ | If set to on, This mixer_profile will try to switch to another mixer_profile when 1.RTH heading home is requested and distance to home is lager than 3*nav_fw_loiter_radius on mixer_profile is a MULTIROTOR or TRICOPTER platform_type. 2. RTH landing is requested on this mixer_profile is a AIRPLANE platform_type |
mixer_control_profile_linking #was mixer_pid_profile_linking |
uint8 mixer profile |
OFF, ON | OFF |
✓ | Δ | ✓ | If enabled, control_profile_index will follow mixer_profile index. Set to OFF(default) if you want to handle control_profile by your self. Recommend to set to ON on all mixer_profiles to let the mixer_profile handle the control_profile switching on a VTOL or mixed platform type setup. Renamed from mixer_pid_profile_linking in 9.0. Same switch, renamed with the control profile: ON makes the control profile follow the mixer profile index. source |
mixer_switch_trans_timer # |
int16 mixer profile |
0 to 200 | 0 |
✓ | ✓ | ✓ | If switch another mixer_profile is scheduled by mixer_automated_switch or mixer_automated_switch. Activate Mixertransion motor/servo mixing for this many decisecond(0.1s) before the actual mixer_profile switch. |
model_preview_type # |
int16 mixer profile |
-1 to 32767 | -1 |
✓ | ✓ | ✓ | ID of mixer preset applied in a Configurator. **Do not modify manually**. Used only for backup/restore reasons. |
motor_direction_inverted # |
uint8 mixer profile |
OFF, ON | OFF |
✓ | ✓ | ✓ | Use if you need to inverse yaw motor direction. |
motorstop_on_low # |
uint8 mixer profile |
OFF, ON | ON |
✓ | ✓ | ✓ | If enabled, motor will stop when throttle is low on this mixer_profile |
platform_type # |
uint8 mixer profile |
MULTIROTOR, AIRPLANE, HELICOPTER, TRICOPTER, ROVER, BOAT | MULTIROTOR |
✓ | ✓ | ✓ | Defines UAV platform type. Allowed values: "MULTIROTOR", "AIRPLANE", "HELICOPTER", "TRICOPTER", "ROVER", "BOAT". Currently only MULTIROTOR, AIRPLANE and TRICOPTER types are implemented |
tailsitter_orientation_offset # |
uint8 mixer profile |
OFF, ON | OFF |
✓ | ✓ | ✓ | Apply a 90 deg pitch offset in sensor aliment for tailsitter flying mode |
transition_pid_mmix_multiplier_pitch # |
int16 mixer profile |
-5000 to 5000 | 1000 |
— | ✓ | ✓ | pitch axis pid multiplier applied to motor mixer only on mixer trasition mode, 1000(default) is 1.0x, -1000 is 1.0x on opposite |
transition_pid_mmix_multiplier_roll # |
int16 mixer profile |
-5000 to 5000 | 1000 |
— | ✓ | ✓ | roll axis pid multiplier applied to motor mixer only on mixer trasition mode, 1000(default) is 1.0x, -1000 is 1.0x on opposite |
transition_pid_mmix_multiplier_yaw # |
int16 mixer profile |
-5000 to 5000 | 1000 |
— | ✓ | ✓ | yaw axis pid multiplier applied to motor mixer only on mixer trasition mode, 1000(default) is 1.0x, -1000 is 1.0x on opposite |
✓ 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)
- Failsafe and arming (18)
- Motors, ESC and beeper (15)
- 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.