INAV Motors, ESC and beeper: CLI settings

Motor protocol and update rate, minimum command, motor poles, idle throttle and throttle scale, 3D (reversible) neutral and deadbands, turtle mode power, ESC telemetry and the beeper.

15 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
`3d_deadband_high` #	uint16 global	1000 to 2000	`1514`	✓	✓	✓	High value of throttle deadband for 3D mode (when stick is in the deadband range, the value in 3d_neutral is used instead)
`3d_deadband_low` #	uint16 global	1000 to 2000	`1406`	✓	✓	✓	Low value of throttle deadband for 3D mode (when stick is in the 3d_deadband_throttle range, the fixed values of 3d_deadband_low / _high are used instead)
`3d_neutral` #	uint16 global	1000 to 2000	`1460`	✓	✓	✓	Neutral (stop) throttle value for 3D mode
`beeper_pwm_mode` #	uint8 global	OFF, ON	`OFF`	✓	✓	✓	Allows disabling PWM mode for beeper on some targets. Switch from ON to OFF if the external beeper sound is weak. Do not switch from OFF to ON without checking if the board supports PWM beeper mode
`dshot_beeper_enabled` #	uint8 global	OFF, ON	`ON`	✓	✓	✓	Whether using DShot motors as beepers is enabled
`dshot_beeper_tone` #	uint8 global	1 to 5	`1`	✓	✓	✓	Sets the DShot beeper tone
`esc_sensor_listen_only` #	uint8 global	OFF, ON	`OFF` needs USE_ESC_SENSOR	✓	✓	✓	Enable when BLHeli32 Auto Telemetry function is used. Disable in every other case
`led_pin_pwm_mode` #	uint8 global	SHARED_LOW, SHARED_HIGH, LOW, HIGH	`SHARED_LOW` needs USE_LED_STRIP	✓	✓	✓	PWM mode of LED pin.
`min_command` #	uint16 global	0 to 2000	`1000`	✓	✓	✓	This is the PWM value sent to ESCs when they are not armed. If ESCs beep slowly when powered up, try decreasing this value. It can also be used for calibrating all ESCs at once.
`motor_poles` #	uint8 global	4 to 255	`14`	✓	✓	✓	The number of motor poles. Required to compute motor RPM
`motor_pwm_protocol` #	uint8 global	STANDARD, ONESHOT125, MULTISHOT, BRUSHED, DSHOT150, DSHOT300, DSHOT600	`ONESHOT125`	✓	✓	✓	Protocol that is used to send motor updates to ESCs. Possible values - STANDARD, ONESHOT125, ONESHOT42, MULTISHOT, DSHOT150, DSHOT300, DSHOT600, DSHOT1200, BRUSHED
`motor_pwm_rate` #	uint16 global	50 to 32000	`16000`	✓	✓	✓	Output frequency (in Hz) for motor pins. Applies only to brushed motors.
`throttle_idle` #	float battery profile	0 to 30	`8`	✓	✓	✓	The percentage of the throttle range (`max_throttle` - `min_command`) above `min_command` used for minimum / idle throttle.
`throttle_scale` #	float battery profile	0 to 1	`1.0`	✓	✓	✓	Throttle scaling factor. `1` means no throttle scaling. `0.5` means throttle scaled down by 50%
`turtle_mode_power_factor` #	uint8 battery profile	0 to 100	`55` needs USE_DSHOT	✓	✓	✓	Turtle mode power factor

✓ 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)
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.