INAV Accelerometer, compass and other sensors: CLI settings

Hardware selection, alignment and calibration values for the accelerometer, gyro, compass, barometer, pitot tube, rangefinder and optical flow, plus the attitude estimator (AHRS) and board alignment.

56 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
`acc_hardware` #	uint8 global	13 values NONE, AUTO, MPU6000, MPU6500, MPU9250, BMI160, ICM20689, BMI088, ICM42605, BMI270, LSM6DXX, ICM45686, FAKE	`AUTO`	✓	✓	Δ	Selection of acc hardware. See Wiki Sensor auto detect and hardware failure detection for more info 9.1: new values ICM45686
`acc_lpf_hz` #	uint16 global	0 to 200	`15`	✓	✓	✓	Software-based filter to remove mechanical vibrations from the accelerometer measurements. Value is cutoff frequency (Hz). For larger frames with bigger props set to lower value.
`acc_lpf_type` #	uint8 global	PT1, BIQUAD	`BIQUAD`	✓	✓	✓	Specifies the type of the software LPF of the acc signals. BIQUAD gives better filtering and more delay, PT1 less filtering and less delay, so use only on clean builds.
`acc_notch_cutoff` #	uint8 global	1 to 255	`1`	✓	✓	✓	Frequency of the software notch filter to remove mechanical vibrations from the accelerometer measurements. Value is cutoff frequency (Hz)
`acc_notch_hz` #	uint8 global	0 to 255	`0`	✓	✓	✓	Frequency of the software notch filter to remove mechanical vibrations from the accelerometer measurements. Value is center frequency (Hz)
`acc_temp_correction` #	float global	-50 to 51	`0`	—	✓	✓	Accelerometer temperature correction factor to compensate for acceleromter drift with changes in acceleromter temperature [cm/s2 per Degs C]. Internally limited to between -50 and 50. Typical setting for MPU6000 acceleromter is around 2.5. Setting to 51 initiates auto calibration which ends after 5 minutes or on first Arm.
`accgain_x` #	int16 global	1 to 8192	`4096`	✓	✓	✓	Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.
`accgain_y` #	int16 global	1 to 8192	`4096`	✓	✓	✓	Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.
`accgain_z` #	int16 global	1 to 8192	`4096`	✓	✓	✓	Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.
`acczero_x` #	int16 global	-32768 to 32767	`0`	✓	✓	✓	Calculated value after '6 position avanced calibration'. See Wiki page.
`acczero_y` #	int16 global	-32768 to 32767	`0`	✓	✓	✓	Calculated value after '6 position avanced calibration'. See Wiki page.
`acczero_z` #	int16 global	-32768 to 32767	`0`	✓	✓	✓	Calculated value after '6 position avanced calibration'. See Wiki page.
`ahrs_acc_ignore_rate` #	uint8 global	0 to 30	`15`	✓	✓	✓	Total gyro rotation rate threshold [deg/s] before scaling to consider accelerometer trustworthy
`ahrs_acc_ignore_slope` #	uint8 global	0 to 10	`5`	✓	✓	✓	Half-width of the interval to gradually reduce accelerometer weight. Centered at `imu_acc_ignore_rate` (exactly 50% weight)
`ahrs_dcm_ki` #	uint16 global	0 to 65535	`50`	✓	✓	✓	Inertial Measurement Unit KI Gain for accelerometer measurements
`ahrs_dcm_ki_mag` #	uint16 global	0 to 65535	`50`	✓	✓	✓	Inertial Measurement Unit KI Gain for compass measurements
`ahrs_dcm_kp` #	uint16 global	0 to 65535	`2000`	✓	✓	✓	Inertial Measurement Unit KP Gain for accelerometer measurements
`ahrs_dcm_kp_mag` #	uint16 global	0 to 65535	`2000`	✓	✓	✓	Inertial Measurement Unit KP Gain for compass measurements
`ahrs_gps_yaw_weight` #	uint16 global	0 to 500	`100`	✓	✓	✓	Arhs gps yaw weight when mag is avaliable, 0 means no gps yaw, 100 means equal weight as compass
`ahrs_gps_yaw_windcomp` #	uint8 global	OFF, ON	`ON`	✓	✓	✓	Wind compensation in heading estimation from gps groundcourse(fixed wing only)
`ahrs_inertia_comp_method` #	uint8 global	VELNED, TURNRATE, ADAPTIVE	`ADAPTIVE`	✓	✓	✓	Inertia force compensation method when gps is avaliable, VELNED use the accleration from gps, TURNRATE calculates accleration by turnrate multiplied by speed, ADAPTIVE choose best result from two in each ahrs loop
`align_board_pitch` #	int16 global	-1800 to 3600	`0`	✓	✓	✓	Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc
`align_board_roll` #	int16 global	-1800 to 3600	`0`	✓	✓	✓	Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc
`align_board_yaw` #	int16 global	-1800 to 3600	`0`	✓	✓	✓	Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc
`align_mag` #	uint8 global	9 values DEFAULT, CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP	`DEFAULT` needs USE_MAG	✓	✓	✓	When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP.
`align_mag_pitch` #	int16 global	-1800 to 3600	`0` needs USE_MAG	✓	✓	✓	Same as align_mag_roll, but for the pitch axis.
`align_mag_roll` #	int16 global	-1800 to 3600	`0` needs USE_MAG	✓	✓	✓	Set the external mag alignment on the roll axis (in 0.1 degree steps). If this value is non-zero, the compass is assumed to be externally mounted and both the board and on-board compass alignent (align_mag) are ignored. See also align_mag_pitch and align_mag_yaw.
`align_mag_yaw` #	int16 global	-1800 to 3600	`0` needs USE_MAG	✓	✓	✓	Same as align_mag_roll, but for the yaw axis.
`align_opflow` #	uint8 global	9 values DEFAULT, CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP	`CW0FLIP` needs USE_OPFLOW	✓	✓	✓	Optical flow module alignment (default CW0_DEG_FLIP)
`baro_cal_tolerance` #	uint16 global	0 to 1000	`150` needs USE_BARO	✓	✓	✓	Baro calibration tolerance in cm. The default should allow the noisiest baro to complete calibration [cm].
`baro_hardware` #	uint8 global	13 values NONE, AUTO, BMP085, MS5611, BMP280, MS5607, LPS25H, SPL06, BMP388, DPS310, B2SMPB, MSP, FAKE	`AUTO` needs USE_BARO	✓	✓	✓	Selection of baro hardware. See Wiki Sensor auto detect and hardware failure detection for more info
`baro_temp_correction` #	float global	-50 to 51	`0` needs USE_BARO	—	✓	✓	Baro temperature correction factor to compensate for Baro altitude drift with changes in Baro temperature [cm/Degs C]. Internally limited to between -50 and 50. Typical setting for BMP280 Baro is around 20. Setting to 51 initiates auto calibration which ends after 5 minutes or on first Arm.
`gyro_to_use` #	uint8 global	0 to 2	`0` needs USE_DUAL_GYRO	✓	✓	✓	On multi-gyro targets, allows to choose which gyro to use. 0 = first gyro, 1 = second gyro
`gyro_zero_x` #	int16 global	-32768 to 32767	`0`	✓	✓	✓	Calculated gyro zero calibration of axis X
`gyro_zero_y` #	int16 global	-32768 to 32767	`0`	✓	✓	✓	Calculated gyro zero calibration of axis Y
`gyro_zero_z` #	int16 global	-32768 to 32767	`0`	✓	✓	✓	Calculated gyro zero calibration of axis Z
`init_gyro_cal` #	uint8 global	OFF, ON	`ON`	✓	✓	✓	If defined to 'OFF', it will ignore the gyroscope calibration done at each startup. Instead, the gyroscope last calibration from when you calibrated will be used. It also means you don't have to keep the UAV stationary during a startup.
`ins_gravity_cmss` #	float global	0 to 2000	`0.0`	✓	✓	✓	Calculated 1G of Acc axis Z to use in INS
`mag_calibration_time` #	uint8 global	20 to 120	`30` needs USE_MAG	✓	✓	✓	Adjust how long time the Calibration of mag will last.
`mag_declination` #	int16 global	-18000 to 18000	`0` needs USE_MAG	✓	✓	✓	Current location magnetic declination in format. For example, -6deg 37min = -637 for Japan. Leading zero in ddd not required. Get your local magnetic declination here: http://magnetic-declination.com/ . Not in use if inav_auto_mag_decl is turned on and you acquire valid GPS fix.
`mag_hardware` #	uint8 global	17 values NONE, AUTO, HMC5883, AK8975, MAG3110, AK8963, IST8310, QMC5883, QMC5883P, MPU9250, IST8308, LIS3MDL, MSP, RM3100, VCM5883, MLX90393, FAKE	`AUTO` needs USE_MAG	✓	Δ	✓	Selection of mag hardware. See Wiki Sensor auto detect and hardware failure detection for more info 9.0: new values QMC5883P
`mag_to_use` #	uint8 global	0 to 1	`0` needs USE_MAG, USE_DUAL_MAG	✓	✓	✓	Allow to chose between built-in and external compass sensor if they are connected to separate buses. Currently only for REVO target
`maggain_x` #	int16 global	-32768 to 32767	`1024` needs USE_MAG	✓	✓	✓	Magnetometer calibration X gain. If 1024, no calibration or calibration failed
`maggain_y` #	int16 global	-32768 to 32767	`1024` needs USE_MAG	✓	✓	✓	Magnetometer calibration Y gain. If 1024, no calibration or calibration failed
`maggain_z` #	int16 global	-32768 to 32767	`1024` needs USE_MAG	✓	✓	✓	Magnetometer calibration Z gain. If 1024, no calibration or calibration failed
`magzero_x` #	int16 global	-32768 to 32767	`0` needs USE_MAG	✓	✓	✓	Magnetometer calibration X offset. If its 0 none offset has been applied and calibration is failed.
`magzero_y` #	int16 global	-32768 to 32767	`0` needs USE_MAG	✓	✓	✓	Magnetometer calibration Y offset. If its 0 none offset has been applied and calibration is failed.
`magzero_z` #	int16 global	-32768 to 32767	`0` needs USE_MAG	✓	✓	✓	Magnetometer calibration Z offset. If its 0 none offset has been applied and calibration is failed.
`opflow_hardware` #	uint8 global	NONE, CXOF, MSP, FAKE	`NONE` needs USE_OPFLOW	✓	✓	✓	Selection of OPFLOW hardware.
`opflow_scale` #	float global	0 to 10000	`10.5` needs USE_OPFLOW	✓	✓	✓	Optical flow module scale factor
`pitot_hardware` #	uint8 global	9 values NONE, AUTO, MS4525, ADC, VIRTUAL, FAKE, MSP, DLVR-L10D, MS5525	`NONE` needs USE_PITOT	✓	✓	Δ	Selection of pitot hardware. VIRTUAL only works if a GPS is enabled. 9.1: new values MS5525
`pitot_lpf_milli_hz` #	uint16 global	0 to 50000	`3000` needs USE_PITOT	✓	Δ	✓	Pitot tube lowpass filter cutoff frequency in milli Hz(0.001hz). Set as 0 to disable LPF Lower cutoff frequencies result in smoother response at expense of command control delay 9.0: max 10000 → 50000; default 350 → 3000
`pitot_scale` #	float global	0 to 100	`1.0` needs USE_PITOT	✓	✓	✓	Pitot tube scale factor
`rangefinder_hardware` #	uint8 global	12 values NONE, SRF10, VL53L0X, MSP, BENEWAKE, VL53L1X, US42, TOF10120_I2C, FAKE, TERARANGER_EVO, USD1_V0, NRA	`NONE` needs USE_RANGEFINDER	✓	✓	✓	Selection of rangefinder hardware.
`rangefinder_median_filter` #	uint8 global	OFF, ON	`OFF` needs USE_RANGEFINDER	✓	✓	✓	3-point median filtering for rangefinder readouts
`small_angle` #	uint8 global	0 to 180	`25`	✓	✓	✓	If the aircraft tilt angle exceed this value the copter will refuse to arm.

✓ 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)
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.