INAV Navigation, RTH and waypoints: CLI settings

The settings every navigation mode shares: return to home (climb, altitude modes, linear descent, trackback), waypoint missions, landing detection, auto speeds, safehomes and geozones.

53 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
`geozone_avoid_altitude_range` #	uint16 global	0 to 1000000	`5000` needs USE_GEOZONE && USE_GPS	✓	✓	✓	Altitude range in which an attempt is made to avoid a geozone upwards The CLI accepts 0 to 1000000, but the firmware stores this setting in a uint16_t field (0 to 65535), so a value outside that range wraps around: 1000000 reads back as 16960.
`geozone_detection_distance` #	uint32 global	0 to 1000000	`50000` needs USE_GEOZONE && USE_GPS	✓	✓	✓	Distance from which a geozone is detected
`geozone_mr_stop_distance` #	uint32 global	0 to 100000	`15000` needs USE_GEOZONE && USE_GPS	✓	✓	✓	Distance in which multirotors stops before the border
`geozone_no_way_home_action` #	uint8 global	RTH, EMRG_LAND	`RTH` needs USE_GEOZONE && USE_GPS	✓	✓	✓	Action if RTH with active geozones is unable to calculate a course to home
`geozone_safe_altitude_distance` #	uint16 global	0 to 10000	`1000` needs USE_GEOZONE && USE_GPS	✓	✓	✓	Vertical distance that must be maintained to the upper and lower limits of the zone.
`geozone_safehome_as_inclusive` #	uint8 global	OFF, ON	`OFF` needs USE_GEOZONE && USE_GPS	✓	✓	✓	Treat nearest safehome as inclusive geozone
`geozone_safehome_zone_action` #	uint8 global	NONE, AVOID, POS_HOLD, RTH	`NONE` needs USE_GEOZONE && USE_GPS	✓	✓	✓	Fence action for safehome zone
`nav_auto_disarm_delay` #	uint16 global	100 to 10000	`1000`	✓	✓	✓	Delay before craft disarms when `nav_disarm_on_landing` is set (ms)
`nav_auto_speed` #	uint16 global	10 to 2000	`500`	✓	✓	✓	Speed in fully autonomous modes (RTH, WP) [cm/s]. Used for WP mode when no specific WP speed set. [Multirotor only]
`nav_cruise_yaw_rate` #	uint8 global	0 to 120	`60`	✓	✓	✓	Max YAW rate when NAV COURSE HOLD/CRUISE mode is enabled. Set to 0 to disable on fixed wing (Note: On multirotor setting to 0 will disable Course Hold/Cruise mode completely) [dps]
`nav_disarm_on_landing` #	uint8 global	OFF, ON	`ON`	✓	✓	✓	If set to ON, INAV disarms the FC after landing
`nav_emerg_landing_speed` #	uint16 global	100 to 2000	`500`	✓	✓	✓	Rate of descent UAV will try to maintain when doing emergency descent sequence [cm/s]
`nav_extra_arming_safety` #	uint8 global	ON, ALLOW_BYPASS	`ALLOW_BYPASS`	✓	✓	✓	If set to ON drone won't arm if no GPS fix and any navigation mode like RTH or POSHOLD is configured. ALLOW_BYPASS allows the user to momentarily disable this check by holding yaw high (left stick held at the bottom right in mode 2) when switch arming is used
`nav_land_detect_sensitivity` #	uint8 global	1 to 15	`5`	✓	✓	✓	Changes sensitivity of landing detection. Higher values increase speed of detection but also increase risk of false detection. Default value should work in most cases.
`nav_land_maxalt_vspd` #	uint16 global	100 to 2000	`200`	✓	✓	✓	Vertical descent velocity above nav_land_slowdown_maxalt during the RTH landing phase. [cm/s]
`nav_land_minalt_vspd` #	uint16 global	50 to 500	`50`	✓	✓	✓	Vertical descent velocity under nav_land_slowdown_minalt during the RTH landing phase. [cm/s]
`nav_land_slowdown_maxalt` #	uint16 global	500 to 4000	`2000`	✓	✓	✓	Defines at what altitude the descent velocity should start to ramp down from `nav_land_maxalt_vspd` to `nav_land_minalt_vspd` during the RTH landing phase [cm]
`nav_land_slowdown_minalt` #	uint16 global	50 to 1000	`500`	✓	✓	✓	Defines at what altitude the descent velocity should start to be `nav_land_minalt_vspd` [cm]
`nav_landing_bump_detection` #	uint8 global	OFF, ON	`OFF`	✓	✓	✓	Allows immediate landing detection based on G bump at touchdown when set to ON. Requires a barometer and GPS and currently only works for multirotors (Note: will work during Failsafe without need for a GPS).
`nav_manual_speed` #	uint16 global	10 to 2000	`750`	✓	✓	✓	Maximum speed allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]
`nav_max_altitude` #	uint16 global	0 to 65000	`0`	✓	✓	✓	Max allowed altitude (above Home Point) that applies to all NAV modes (including Altitude Hold). 0 means limit is disabled
`nav_max_auto_speed` #	uint16 global	10 to 2000	`1000`	✓	✓	✓	Maximum speed allowed in fully autonomous modes (RTH, WP) [cm/s] [Multirotor only]
`nav_max_terrain_follow_alt` #	uint16 global	0 to 1000	`100`	✓	✓	✓	Max allowed above the ground altitude for terrain following mode [cm]
`nav_min_ground_speed` #	uint8 global	6 to 50	`7`	✓	✓	✓	Minimum ground speed for navigation flight modes [m/s]. Currently, this only affects fixed wing. Default 7 m/s.
`nav_min_rth_distance` #	uint16 global	0 to 5000	`500`	✓	✓	✓	Minimum distance from homepoint when RTH full procedure will be activated [cm]. Below this distance, the mode will activate at the current location and the final phase is executed (loiter / land). Above this distance, the full procedure is activated, which may include initial climb and flying directly to the homepoint before entering the loiter / land phase.
`nav_mission_planner_reset` #	uint8 global	OFF, ON	`ON`	✓	✓	✓	With Reset ON WP Mission Planner waypoint count can be reset to 0 by toggling the mode switch ON-OFF-ON.
`nav_overrides_motor_stop` #	uint8 global	OFF_ALWAYS, OFF, AUTO_ONLY, ALL_NAV	`ALL_NAV`	✓	✓	✓	When set to OFF the navigation system will not take over the control of the motor if the throttle is low (motor will stop). When set to OFF_ALWAYS the navigation system will not take over the control of the motor if the throttle was low even when failsafe is triggered. When set to AUTO_ONLY the navigation system will only take over the control of the throttle in autonomous navigation modes (NAV WP and NAV RTH). When set to ALL_NAV (default) the navigation system will take over the control of the motor completely and never allow the motor to stop even when the throttle is low. This setting only has an effect on NAV modes which take control of the throttle when combined with MOTOR_STOP and is likely to cause a stall if fw_min_throttle_down_pitch isn't set correctly or the pitch estimation is wrong for fixed wing models when not set to ALL_NAV
`nav_position_timeout` #	uint8 global	0 to 10	`5`	✓	✓	✓	If GPS fails wait for this much seconds before switching to emergency landing mode (0 - disable)
`nav_rth_abort_threshold` #	uint16 global	0 to 65000	`50000`	✓	✓	✓	RTH sanity checking feature will notice if distance to home is increasing during RTH and once amount of increase exceeds the threshold defined by this parameter, instead of continuing RTH machine will enter emergency landing, self-level and go down safely. Default is 500m which is safe enough for both multirotor machines and airplanes. Set to 0 to disable. [cm]
`nav_rth_allow_landing` #	uint8 global	NEVER, ALWAYS, FS_ONLY	`ALWAYS`	✓	✓	✓	If set to ON drone will land as a last phase of RTH.
`nav_rth_alt_control_override` #	uint8 global	OFF, ON	`OFF`	✓	✓	✓	If set to ON RTH altitude and CLIMB FIRST settings can be overridden during the RTH climb phase using full pitch or roll stick held for > 1 second. RTH altitude is reset to the current altitude using pitch down stick. RTH CLIMB FIRST is overridden using right roll stick so craft turns and heads directly to home (CLIMB FIRST override only works for fixed wing)
`nav_rth_alt_mode` #	uint8 global	CURRENT, EXTRA, FIXED, MAX, AT_LEAST	`AT_LEAST`	✓	✓	✓	Configure how the aircraft will manage altitude on the way home, see Navigation modes on wiki for more details
`nav_rth_altitude` #	uint16 global	0 to 65000	`1000`	✓	✓	✓	Used in EXTRA, FIXED and AT_LEAST rth alt modes [cm] (Default 1000 means 10 meters)
`nav_rth_climb_first` #	uint8 global	OFF, ON, ON_FW_SPIRAL	`ON`	✓	✓	✓	If set to ON or ON_FW_SPIRAL aircraft will climb to nav_rth_altitude first before turning to head home. If set to OFF aircraft will turn and head home immediately climbing on the way. For a fixed wing ON will use a linear climb, ON_FW_SPIRAL will use a loiter turning climb with climb rate set by nav_auto_climb_rate, turn rate set by nav_fw_loiter_radius (ON_FW_SPIRAL is a fixed wing setting and behaves the same as ON for a multirotor)
`nav_rth_climb_first_stage_altitude` #	uint16 global	0 to 65000	`0`	✓	✓	✓	The altitude [cm] at which climb first will transition to turn first. How the altitude is used, is determined by nav_rth_climb_first_stage_mode. Default=0; feature disabled.
`nav_rth_climb_first_stage_mode` #	uint8 global	AT_LEAST, EXTRA	`AT_LEAST`	✓	✓	✓	This determines how rth_climb_first_stage_altitude is used. Default is AT_LEAST.
`nav_rth_climb_ignore_emerg` #	uint8 global	OFF, ON	`OFF`	✓	✓	✓	If set to ON, aircraft will execute initial climb regardless of position sensor (GPS) status.
`nav_rth_fs_landing_delay` #	uint16 global	0 to 1800	`0`	✓	✓	✓	If landing is active on Failsafe and this is above 0. The aircraft will hover or loiter for X seconds before performing the landing. If the battery enters the warning or critical levels, the land will proceed. Default = 0 [seconds]
`nav_rth_home_altitude` #	uint16 global	0 to 65000	`0`	✓	✓	✓	Aircraft will climb/descend to this altitude after reaching home if landing is not enabled. Set to 0 to stay at `nav_rth_altitude` (default) [cm]
`nav_rth_linear_descent_start_distance` #	uint16 global	0 to 10000	`0`	✓	✓	✓	The distance [m] away from home to start the linear descent. 0 = immediately (original linear descent behaviour)
`nav_rth_tail_first` #	uint8 global	OFF, ON	`OFF`	✓	✓	✓	If set to ON drone will return tail-first. Obviously meaningless for airplanes.
`nav_rth_trackback_distance` #	uint16 global	50 to 2000	`500`	✓	✓	✓	Maximum distance allowed for RTH trackback. Normal RTH is executed once this distance is exceeded [m].
`nav_rth_trackback_mode` #	uint8 global	OFF, ON, FS	`OFF`	✓	✓	✓	Useage modes for RTH Trackback. OFF = disabled, ON = Normal and Failsafe RTH, FS = Failsafe RTH only.
`nav_rth_use_linear_descent` #	uint8 global	OFF, ON	`OFF`	✓	✓	✓	If enabled, the aircraft will gradually descent to the nav_rth_home_altitude en route. The distance from home to start the descent can be set with `nav_rth_linear_descent_start_distance`.
`nav_user_control_mode` #	uint8 global	ATTI, CRUISE	`ATTI`	✓	✓	✓	Defines how Pitch/Roll input from RC receiver affects flight in POSHOLD mode: ATTI - pitch/roll controls attitude like in ANGLE mode; CRUISE - pitch/roll controls velocity in forward and right direction.
`nav_wp_enforce_altitude` #	uint16 global	0 to 2000	`0`	✓	✓	✓	Forces craft to achieve the set WP altitude as well as position before moving to next WP. Position is held and altitude adjusted as required before moving on. 0 = disabled, otherwise setting defines altitude capture tolerance [cm], e.g. 100 means required altitude is achieved when within 100cm of waypoint altitude setting.
`nav_wp_load_on_boot` #	uint8 global	OFF, ON	`OFF`	✓	✓	✓	If set to ON, waypoints will be automatically loaded from EEPROM to the FC during startup.
`nav_wp_max_safe_distance` #	uint16 global	0 to 1500	`100`	✓	✓	✓	First waypoint in the mission should be closer than this value [m]. A value of 0 disables this check.
`nav_wp_mission_restart` #	uint8 global	START, RESUME, SWITCH	`RESUME`	✓	✓	✓	Sets restart behaviour for a WP mission when interrupted mid mission. START from first WP, RESUME from last active WP or SWITCH between START and RESUME each time WP Mode is reselected ON. SWITCH effectively allows resuming once only from a previous mid mission waypoint after which the mission will restart from the first waypoint.
`nav_wp_multi_mission_index` #	uint8 global	1 to 9	`1` needs USE_MULTI_MISSION	✓	✓	✓	Index of active mission selected from multi mission WP entry loaded in flight controller. Limited to a maximum of 9 missions.
`nav_wp_radius` #	uint16 global	10 to 10000	`100`	✓	✓	✓	Waypoint radius [cm]. Waypoint would be considered reached if machine is within this radius
`safehome_max_distance` #	uint16 global	0 to 65000	`20000`	✓	✓	✓	In order for a safehome to be used, it must be less than this distance (in cm) from the arming point.
`safehome_usage_mode` #	uint8 global	OFF, RTH, RTH_FS	`RTH`	✓	✓	✓	Used to control when safehomes will be used. Possible values are `OFF`, `RTH` and `RTH_FS`. See [Safehome documentation](Safehomes.md#Safehome) for more information.

✓ 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)
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)
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.