INAV Telemetry: CLI settings
Telemetry protocols and their options: FrSky SmartPort and F.Port, IBUS, HoTT, LTM, MAVLink stream rates and IDs, cell voltage reporting and the SIM (GSM) module.
31 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_event_threshold_high # |
uint16 global |
0 to 65535 | 0needs USE_TELEMETRY, USE_TELEMETRY_SIM |
✓ | ✓ | ✓ | Acceleration threshold [cm/s/s] for impact / high g event text messages sent by SIM module. Acceleration values greater than 4 g can occur in fixed wing flight without an impact, so a setting of 4000 or greater is suggested. 0 = detection off. |
acc_event_threshold_low # |
uint16 global |
0 to 900 | 0needs USE_TELEMETRY, USE_TELEMETRY_SIM |
✓ | ✓ | ✓ | Acceleration threshold [cm/s/s] for low-g / freefall detection text messages sent by SIM module. A setting of less than 100 is suggested. Valid values: [0-900], 0 = detection off. |
acc_event_threshold_neg_x # |
uint16 global |
0 to 65535 | 0needs USE_TELEMETRY, USE_TELEMETRY_SIM |
✓ | ✓ | ✓ | Acceleration threshold [cm/s/s] for backwards acceleration / fixed wing landing detection text messages sent by SIM module. Suggested value for fixed wing: 1100. 0 = detection off. |
frsky_pitch_roll # |
uint8 global |
OFF, ON | OFFneeds USE_TELEMETRY |
✓ | ✓ | ✓ | S.Port telemetry: Send pitch and roll degrees*10 instead of raw accelerometer data |
frsky_use_legacy_gps_mode_sensor_ids # |
uint8 global |
OFF, ON | OFFneeds USE_TELEMETRY |
✓ | ✓ | ✓ | S.Port telemetry: If `ON`, send the legacy telemetry IDs for modes (Tmp1) and GNSS (Tmp2). These are old IDs, deprecated, and will be removed in INAV 10.0. Tools and scripts using these IDs should be updated to use the new IDs of **470** for Modes and **480** for GNSS. Default: 'OFF' |
hott_alarm_sound_interval # |
uint8 global |
0 to 120 | 5needs USE_TELEMETRY |
✓ | ✓ | ✓ | Battery alarm delay in seconds for Hott telemetry |
ibus_telemetry_type # |
uint8 global |
0 to 255 | 0needs USE_TELEMETRY |
✓ | ✓ | ✓ | Type compatibility ibus telemetry for transmitters. See Telemetry.md label IBUS for details. |
ltm_update_rate # |
uint8 global |
NORMAL, MEDIUM, SLOW | NORMALneeds USE_TELEMETRY, USE_TELEMETRY_LTM |
✓ | ✓ | ✓ | Defines the LTM update rate (use of bandwidth [NORMAL/MEDIUM/SLOW]). See Telemetry.md, LTM section for details. |
mavlink_autopilot_type # |
uint8 global |
GENERIC, ARDUPILOT | GENERICneeds USE_TELEMETRY |
— | ✓ | ✓ | Autopilot type to advertise for MAVLink telemetry |
mavlink_ext_status_rate # |
uint8 global |
0 to 255 | 2needs USE_TELEMETRY |
✓ | ✓ | ✓ | Rate of the extended status message for MAVLink telemetry |
mavlink_extra1_rate # |
uint8 global |
0 to 255 | 2needs USE_TELEMETRY |
✓ | ✓ | ✓ | Rate of the extra1 message for MAVLink telemetry |
mavlink_extra2_rate # |
uint8 global |
0 to 255 | 2needs USE_TELEMETRY |
✓ | ✓ | ✓ | Rate of the extra2 message for MAVLink telemetry |
mavlink_extra3_rate # |
uint8 global |
0 to 255 | 1needs USE_TELEMETRY |
✓ | ✓ | ✓ | Rate of the extra3 message for MAVLink telemetry |
mavlink_min_txbuffer # |
uint8 global |
0 to 100 | 33needs USE_TELEMETRY |
✓ | ✓ | ✓ | Minimum percent of TX buffer space free, before attempting to transmit telemetry. Requuires RADIO_STATUS messages to be processed. 0 = always transmits. |
mavlink_pos_rate # |
uint8 global |
0 to 255 | 2needs USE_TELEMETRY |
✓ | ✓ | ✓ | Rate of the position message for MAVLink telemetry |
mavlink_radio_type # |
uint8 global |
GENERIC, ELRS, SIK | GENERICneeds USE_TELEMETRY |
✓ | ✓ | ✓ | Mavlink radio type. Affects how RSSI and LQ are reported on OSD. |
mavlink_rc_chan_rate # |
uint8 global |
0 to 255 | 1needs USE_TELEMETRY |
✓ | ✓ | ✓ | Rate of the RC channels message for MAVLink telemetry |
mavlink_sysid # |
uint8 global |
1 to 255 | 1needs USE_TELEMETRY |
— | ✓ | ✓ | MAVLink System ID |
mavlink_version # |
uint8 global |
1 to 2 | 2needs USE_TELEMETRY |
✓ | ✓ | ✓ | Version of MAVLink to use |
report_cell_voltage # |
uint8 global |
OFF, ON | OFFneeds USE_TELEMETRY |
✓ | ✓ | ✓ | S.Port and IBUS telemetry: Send the average cell voltage if set to ON |
sim_ground_station_number # |
uint8 global |
text, 0 to 15 characters | (empty)needs USE_TELEMETRY, USE_TELEMETRY_SIM |
✓ | ✓ | ✓ | Number of phone that is used to communicate with SIM module. Messages / calls from other numbers are ignored. If undefined, can be set by calling or sending a message to the module. |
sim_low_altitude # |
int16 global |
-32768 to 32767 | -32767needs USE_TELEMETRY, USE_TELEMETRY_SIM |
✓ | ✓ | ✓ | Threshold for low altitude warning messages sent by SIM module when the 'L' transmit flag is set in `sim_transmit_flags`. |
sim_pin # |
uint8 global |
text, 0 to 7 characters | 0000needs USE_TELEMETRY, USE_TELEMETRY_SIM |
✓ | ✓ | ✓ | PIN code for the SIM module |
sim_transmit_flags # |
uint8 global |
0 to 63 | 2needs USE_TELEMETRY, USE_TELEMETRY_SIM |
✓ | ✓ | ✓ | Bitmask specifying text message transmit condition flags for the SIM module. 1: continuous transmission, 2: continuous transmission in failsafe mode, 4: continuous transmission when GPS signal quality is low, 8: acceleration events, 16: continuous transmission when altitude is below `sim_low_altitude` |
sim_transmit_interval # |
uint16 global |
10 to 65535 | 60needs USE_TELEMETRY, USE_TELEMETRY_SIM |
✓ | ✓ | ✓ | Text message transmission interval in seconds for SIM module. Minimum value: 10 |
smartport_fuel_unit # |
uint8 global |
PERCENT, MAH, MWH | MAHneeds USE_TELEMETRY, USE_TELEMETRY_SMARTPORT |
✓ | ✓ | ✓ | S.Port telemetry only: Unit of the value sent with the `FUEL` ID (FrSky D-Series always sends percent). [PERCENT/MAH/MWH] |
smartport_master_halfduplex # |
uint8 global |
OFF, ON | ONneeds USE_SMARTPORT_MASTER |
✓ | ✓ | ✓ | |
smartport_master_inverted # |
uint8 global |
OFF, ON | OFFneeds USE_SMARTPORT_MASTER |
✓ | ✓ | ✓ | |
telemetry_halfduplex # |
uint8 global |
OFF, ON | ONneeds USE_TELEMETRY |
✓ | ✓ | ✓ | S.Port telemetry only: Turn UART into UNIDIR for usage on F1 and F4 target. See Telemetry.md for details |
telemetry_inverted # |
uint8 global |
OFF, ON | OFFneeds USE_TELEMETRY |
✓ | ✓ | ✓ | Determines if the telemetry protocol default signal inversion is reversed. This should be OFF in most cases unless a custom or hacked RX is used. |
telemetry_switch # |
uint8 global |
OFF, ON | OFFneeds USE_TELEMETRY |
✓ | ✓ | ✓ | Which aux channel to use to change serial output & baud rate (MSP / Telemetry). It disables automatic switching to Telemetry when armed. |
✓ 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)
- Servos, gimbal and head tracker (19)
- Battery, current sensor and power limits (35)
- OSD (114)
- Video transmitter (12)
- 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.