INAV Position estimator: CLI settings

The inertial navigation estimator: how much it trusts GPS, barometer, optical flow and the rangefinder for position and altitude (the `inav_w_` weights), dead reckoning, and when it resets home and altitude.

23 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
`inav_allow_dead_reckoning` #	uint8 global	OFF, ON	`OFF`	✓	✓	✓	Defines if INAV will dead-reckon over short GPS outages. May also be useful for indoors OPFLOW navigation
`inav_allow_gps_fix_estimation` #	uint8 global	OFF, ON	`OFF` needs USE_GPS_FIX_ESTIMATION	✓	✓	✓	Defines if inav will estimate GPS fix with magnetometer and barometer on GPS outages. Enables navigation and RTH without GPS fix on fixed wing. Also see failsafe_gps_fix_estimation_delay.
`inav_auto_mag_decl` #	uint8 global	OFF, ON	`ON`	✓	✓	✓	Automatic setting of magnetic declination based on GPS position. When used manual magnetic declination is ignored.
`inav_baro_epv` #	float global	0 to 9999	`100`	✓	✓	✓	Uncertainty value for barometric sensor [cm]
`inav_default_alt_sensor` #	uint8 global	GPS, BARO, GPS_ONLY, BARO_ONLY	`GPS`	✓	✓	✓	Sets the default altitude sensor to use. Settings GPS and BARO always use both sensors unless there is an altitude error between the sensors that exceeds a set limit. In this case only the selected sensor will be used while the altitude error limit is exceeded. GPS error limit = 2 * inav_max_eph_epv. BARO error limit = 4 * inav_baro_epv. Settings GPS_ONLY and BARO_ONLY will use only the selected sensor even if the other sensor is working. The other sensor will only be used as a backup if the selected sensor is no longer available to use.
`inav_gravity_cal_tolerance` #	uint8 global	0 to 255	`5`	✓	✓	✓	Unarmed gravity calibration tolerance level. Won't finish the calibration until estimated gravity error falls below this value.
`inav_max_eph_epv` #	float global	0 to 9999	`1000`	✓	✓	✓	Maximum uncertainty value until estimated position is considered valid and is used for navigation [cm]
`inav_max_surface_altitude` #	uint16 global	0 to 1000	`200`	✓	✓	✓	Max allowed altitude for surface following mode. [cm]
`inav_reset_altitude` #	uint8 global	NEVER, FIRST_ARM, EACH_ARM	`FIRST_ARM`	✓	✓	✓	Defines when relative estimated altitude is reset to zero. Variants - `NEVER` (once reference is acquired it's used regardless); `FIRST_ARM` (keep altitude at zero until firstly armed), `EACH_ARM` (altitude is reset to zero on each arming)
`inav_reset_home` #	uint8 global	NEVER, FIRST_ARM, EACH_ARM	`FIRST_ARM`	✓	✓	✓	Allows to chose when the home position is reset. Can help prevent resetting home position after accidental mid-air disarm. Possible values are: NEVER, FIRST_ARM and EACH_ARM
`inav_w_acc_bias` #	float global	0 to 1	`0.01`	✓	✓	✓	Weight for accelerometer drift estimation
`inav_w_xy_flow_p` #	float global	0 to 100	`1.0`	✓	✓	✓	Weight of optical flow measurements in estimated UAV position.
`inav_w_xy_flow_v` #	float global	0 to 100	`2.0`	✓	✓	✓	Weight of optical flow measurements in estimated UAV speed.
`inav_w_xy_gps_p` #	float global	0 to 10	`1.0`	✓	✓	✓	Weight of GPS coordinates in estimated UAV position and speed.
`inav_w_xy_gps_v` #	float global	0 to 10	`2.0`	✓	✓	✓	Weight of GPS velocity data in estimated UAV speed
`inav_w_xy_res_v` #	float global	0 to 10	`0.5`	✓	✓	✓	Decay coefficient for estimated velocity when GPS reference for position is lost
`inav_w_z_baro_p` #	float global	0 to 10	`0.35`	✓	✓	✓	Weight of barometer measurements in estimated altitude and climb rate. Setting is used on both airplanes and multirotors.
`inav_w_z_baro_v` #	float global	0 to 10	`0.35`	✓	Δ	✓	Weight of barometer climb rate measurements in estimated climb rate. Setting is used on both airplanes and multirotors. 9.0: default 0.1 → 0.35
`inav_w_z_gps_p` #	float global	0 to 10	`0.35`	✓	Δ	✓	Weight of GPS altitude measurements in estimated altitude. Setting is used on both airplanes and multirotors. 9.0: default 0.2 → 0.35
`inav_w_z_gps_v` #	float global	0 to 10	`0.35`	✓	Δ	✓	Weight of GPS climb rate measurements in estimated climb rate. Setting is used on both airplanes and multirotors. 9.0: default 0.1 → 0.35
`inav_w_z_res_v` #	float global	0 to 10	`0.5`	✓	✓	✓	Decay coefficient for estimated climb rate when baro/GPS reference for altitude is lost
`inav_w_z_surface_p` #	float global	0 to 100	`3.5`	✓	✓	✓	Weight of rangefinder measurements in estimated altitude. Setting is used on both airplanes and multirotors when rangefinder is present and Surface mode enabled
`inav_w_z_surface_v` #	float global	0 to 100	`6.1`	✓	✓	✓	Weight of rangefinder measurements in estimated climb rate. Setting is used on both airplanes and multirotors when rangefinder is present and Surface mode enabled

✓ 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)
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.