INAV Servos, gimbal and head tracker: CLI settings
Servo protocol, rate, centre pulse and filter, autotrim and flaperon throw, plus camera gimbal channels and trims and the head tracker ratios.
19 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 |
|---|---|---|---|---|---|---|---|
flaperon_throw_offset # |
uint16 global |
50 to 450 | 200 |
✓ | ✓ | ✓ | Defines throw range in us for both ailerons that will be passed to servo mixer via input source 14 (`FEATURE FLAPS`) when FLAPERON mode is activated. |
gimbal_pan_channel # |
uint8 global |
0 to 32 | 0needs USE_SERIAL_GIMBAL |
✓ | ✓ | ✓ | Gimbal pan rc channel index. 0 is no channel. |
gimbal_pan_trim # |
int16 global |
-500 to 500 | 0needs USE_SERIAL_GIMBAL |
✓ | ✓ | ✓ | Trim gimbal pan center position. |
gimbal_roll_channel # |
uint8 global |
0 to 32 | 0needs USE_SERIAL_GIMBAL |
✓ | ✓ | ✓ | Gimbal roll rc channel index. 0 is no channel. |
gimbal_roll_trim # |
int16 global |
-500 to 500 | 0needs USE_SERIAL_GIMBAL |
✓ | ✓ | ✓ | Trim gimbal roll center position. |
gimbal_sensitivity # |
int8 global |
-16 to 15 | 0needs USE_SERIAL_GIMBAL |
✓ | ✓ | ✓ | Gimbal sensitivity is similar to gain and will affect how quickly the gimbal will react. |
gimbal_serial_single_uart # |
uint8 global |
OFF, ON | OFFneeds USE_SERIAL_GIMBAL |
✓ | ✓ | ✓ | Gimbal serial and headtracker device share same UART. FC RX goes to headtracker device, FC TX goes to gimbal. |
gimbal_tilt_channel # |
uint8 global |
0 to 32 | 0needs USE_SERIAL_GIMBAL |
✓ | ✓ | ✓ | Gimbal tilt rc channel index. 0 is no channel. |
gimbal_tilt_trim # |
int16 global |
-500 to 500 | 0needs USE_SERIAL_GIMBAL |
✓ | ✓ | ✓ | Trim gimbal tilt center position. |
headtracker_pan_ratio # |
float global |
0 to 5 | 1needs USE_HEADTRACKER |
✓ | ✓ | ✓ | Head pan movement vs camera movement ratio |
headtracker_roll_ratio # |
float global |
0 to 5 | 1needs USE_HEADTRACKER |
✓ | ✓ | ✓ | Head roll movement vs camera movement ratio |
headtracker_tilt_ratio # |
float global |
0 to 5 | 1needs USE_HEADTRACKER |
✓ | ✓ | ✓ | Head tilt movement vs camera movement ratio |
headtracker_type # |
uint8 global |
NONE, SERIAL, MSP | NONEneeds USE_HEADTRACKER |
✓ | ✓ | ✓ | Type of headtrackr dervice |
servo_autotrim_rotation_limit # |
uint8 global |
1 to 60 | 15 |
✓ | ✓ | ✓ | Servo midpoints are only updated when total aircraft rotation is less than this threshold [deg/s]. Only applies when using `feature FW_AUTOTRIM`. |
servo_center_pulse # |
uint16 global |
1000 to 2000 | 1500 |
✓ | ✓ | ✓ | Servo midpoint |
servo_lpf_hz # |
int16 global |
0 to 400 | 20 |
✓ | ✓ | ✓ | Selects the servo PWM output cutoff frequency. Value is in [Hz] |
servo_protocol # |
uint8 global |
PWM, SBUS, SBUS_PWM | PWM |
✓ | ✓ | ✓ | An option to chose the protocol/option that would be used to output servo data. Possible options `PWM` (FC servo outputs), `SBUS` (S.Bus protocol output via a configured serial port) |
servo_pwm_rate # |
uint16 global |
50 to 498 | 50 |
✓ | ✓ | ✓ | Output frequency (in Hz) servo pins. When using tricopters or gimbal with digital servo, this rate can be increased. Max of 498Hz (for 500Hz pwm period), and min of 50Hz. Most digital servos will support for example 330Hz. |
tri_unarmed_servo # |
uint8 global |
OFF, ON | ON |
✓ | ✓ | ✓ | On tricopter mix only, if this is set to ON, servo will always be correcting regardless of armed state. to disable this, set it to OFF. |
✓ 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)
- Mixer profiles (12)
- 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.