# Command Line Interface (CLI)

Cleanflight has a command line interface (CLI) that can be used to change settings and configure the FC.

## Accessing the CLI.

The CLI can be accessed via the GUI tool or via a terminal emulator connected to the CLI serial port.

1. Connect your terminal emulator to the CLI serial port (which, by default, is the same as the MSP serial port)
2. Use the baudrate specified by msp_baudrate (115200 by default).
3. Send a `#` character.

To save your settings type in 'save', saving will reboot the flight controller.

To exit the CLI without saving power off the flight controller or type in 'exit'.

To see a list of other commands type in 'help' and press return.

To dump your configuration (including the current profile), use the 'dump' command.

See the other documentation sections for details of the cli commands and settings that are available.

## Backup via CLI

Disconnect main power, connect to cli via USB/FTDI.

dump using cli

```
rateprofile 0
profile 0
dump
```

dump profiles using cli if you use them

```
profile 1
dump profile
profile 2
dump profile
```

dump rate profiles using cli if you use them

```
rateprofile 1
dump rates
rateprofile 2
dump rates
```
copy screen output to a file and save it.

## Restore via CLI.

Use the cli `defaults` command first.

When restoring from a backup it is a good idea to do a dump of the latest defaults so you know what has changed - if you do this each time a firmware release is created youwill be able to see the cli changes between firmware versions.  For instance, in December 2014 the default GPS navigation PIDs changed.  If you blindly restore your backup you would not benefit from these new defaults.

Use the CLI and send all the output from the saved from the backup commands.

Do not send the file too fast, if you do the FC might not be able to keep up when using USART adapters (including built in ones) since there is no hardware serial flow control.

You may find you have to copy/paste a few lines at a time.

Repeat the backup process again!

Compare the two backups to make sure you are happy with your restored settings.

Re-apply any new defaults as desired.

## CLI Command Reference

| Command        | Description                                    |
|----------------|------------------------------------------------|
| adjrange       | show/set adjustment ranges settings            |
| aux            | show/set aux settings                          |
| cmix           | design custom mixer                            |
| color          | configure colors                               |
| defaults       | reset to defaults and reboot                   |
| dump           | print configurable settings in a pastable form |
| exit           |                                                |
| feature        | list or -val or val                            |
| get            | get variable value                             |
| gpspassthrough | passthrough gps to serial                      |
| help           |                                                |
| led            | configure leds                                 |
| map            | mapping of rc channel order                    |
| mixer          | mixer name or list                             |
| motor          | get/set motor output value                     |
| profile        | index (0 to 2)                                 |
| rateprofile    | index (0 to 2)                                 |
| save           | save and reboot                                |
| set            | name=value or blank or * for list              |
| status         | show system status                             |
| version        |                                                |

## CLI Variable Reference

| Variable                      | Description/Units                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      | Min    | Max    | Default       | Type         | Datatype |
|-------------------------------| |--------|--------|---------------|--------------|----------|
| looptime                      | This is the main loop time (in us). Changing this affects PID effect with some PID controllers (see PID section for details). Default of 3500us/285Hz should work for everyone. Setting it to zero does not limit loop time, so it will go as fast as possible.                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 9000   | 3500          | Master       | UINT16   |
| emf_avoidance                 | Default value is 0 for 72MHz processor speed. Setting this to 1 increases the processor speed, to move the 6th harmonic away from 432MHz.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              | 0      | 1      | 0             | Master       | UINT8    |
| mid_rc                        | This is an important number to set in order to avoid trimming receiver/transmitter. Most standard receivers will have this at 1500, however Futaba transmitters will need this set to 1520. A way to find out if this needs to be changed, is to clear all trim/subtrim on transmitter, and connect to GUI. Note the value most channels idle at - this should be the number to choose. Once midrc is set, use subtrim on transmitter to make sure all channels (except throttle of course) are centered at midrc value.                                                                                                                               | 1200   | 1700   | 1500          | Master       | UINT16   |
| min_check                     | These are min/max values (in us) which, when a channel is smaller (min) or larger (max) than the value will activate various RC commands, such as arming, or stick configuration. Normally, every RC channel should be set so that min = 1000us, max = 2000us. On most transmitters this usually means 125% endpoints. Default check values are 100us above/below this value.                                                                                                                                                                                                                                                                          | 0      | 2000   | 1100          | Master       | UINT16   |
| max_check                     | These are min/max values (in us) which, when a channel is smaller (min) or larger (max) than the value will activate various RC commands, such as arming, or stick configuration. Normally, every RC channel should be set so that min = 1000us, max = 2000us. On most transmitters this usually means 125% endpoints. Default check values are 100us above/below this value.                                                                                                                                                                                                                                                                          | 0      | 2000   | 1900          | Master       | UINT16   |
| rssi_channel                  |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 18     | 0             | Master       | INT8     |
| rssi_scale                    |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 1      | 255    | 30            | Master       | UINT8    |
| input_filtering_mode          |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 1      | 0             | Master       | INT8     |
| min_throttle                  | These are min/max values (in us) that are sent to esc when armed. Defaults of 1150/1850 are OK for everyone, for use with AfroESC, they could be set to 1064/1864.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     | 0      | 2000   | 1150          | Master       | UINT16   |
| max_throttle                  | These are min/max values (in us) that are sent to esc when armed. Defaults of 1150/1850 are OK for everyone, for use with AfroESC, they could be set to 1064/1864.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     | 0      | 2000   | 1850          | Master       | UINT16   |
| min_command                   | This is the PWM value sent to ESCs when they are not armed. If ESCs beep slowly when powered up, try decreasing this value. It can also be used for calibrating all ESCs at once.                                                                                                                                                                                                                                                                                                                                                                                                                                                                      | 0      | 2000   | 1000          | Master       | UINT16   |
| servo_center_pulse            |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 2000   | 1500          | Master       | UINT16   |
| 3d_deadband_low               |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 2000   | 1406          | Master       | UINT16   |
| 3d_deadband_high              |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 2000   | 1514          | Master       | UINT16   |
| 3d_neutral                    |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 2000   | 1460          | Master       | UINT16   |
| 3d_deadband_throttle          |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 2000   | 50            | Master       | UINT16   |
| motor_pwm_rate                | Output frequency (in Hz) for motor pins. Defaults are 400Hz for motor. If setting above 500Hz, will switch to brushed (direct drive) motors mode. For example, setting to 8000 will use brushed mode at 8kHz switching frequency. Up to 32kHz is supported. Note, that in brushed mode, minthrottle is offset to zero. Default is 16000 for boards with brushed motors.                                                                                                                                                                                                                                                                                | 50     | 32000  | 400           | Master       | UINT16   |
| servo_pwm_rate                | Output frequency (in Hz) servo pins. Default is 50Hz. 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.                                                                                                                                                                                                                                                                                                                                                                                                        | 50     | 498    | 50            | Master       | UINT16   |
| retarded_arm                  | Disabled by default, enabling (setting to 1) allows disarming by throttle low + roll. This could be useful for non-acro tricopters, where default arming by yaw could move tail servo too much.                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 1      | 0             | Master       | UINT8    |
| disarm_kill_switch            | Enabled by default. Disarms the motors independently of throttle value. Setting to 0 reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel.                                                                                                                                                                                                                                                                                                                                                                                                                              | 0      | 1      | 1             | Master       | UINT8    |
| auto_disarm_delay             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 60     | 5             | Master       | UINT8    |
| small_angle                   | If the copter tilt angle exceed this value the copter will refuse to arm. default is 25°.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              | 0      | 180    | 25            | Master       | UINT8    |
| pid_at_min_throttle   | If enabled, the copter will process the pid algorithm at minimum throttle.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          | 0      | 1      | 1             | Master       | UINT8    |
| flaps_speed                   |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 0             | Master       | UINT8    |
| fixedwing_althold_dir         |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | -1     | 1      | 1             | Master       | INT8     |
| reboot_character              |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 48     | 126    | 82            | Master       | UINT8    |
| gps_provider                  |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 1      | 0             | Master       | UINT8    |
| gps_sbas_mode                 |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 4      | 0             | Master       | UINT8    |
| gps_auto_config               |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 1      | 1             | Master       | UINT8    |
| gps_auto_baud                 |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 1      | 0             | Master       | UINT8    |
| gps_pos_p                     |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 15            | Profile      | UINT8    |
| gps_pos_i                     |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 0             | Profile      | UINT8    |
| gps_pos_d                     |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 0             | Profile      | UINT8    |
| gps_posr_p                    |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 34            | Profile      | UINT8    |
| gps_posr_i                    |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 14            | Profile      | UINT8    |
| gps_posr_d                    |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 53            | Profile      | UINT8    |
| gps_nav_p                     |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 25            | Profile      | UINT8    |
| gps_nav_i                     |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 33            | Profile      | UINT8    |
| gps_nav_d                     |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 83            | Profile      | UINT8    |
| gps_wp_radius                 |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 2000   | 200           | Profile      | UINT16   |
| nav_controls_heading          |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 1      | 1             | Profile      | UINT8    |
| nav_speed_min                 |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 10     | 2000   | 100           | Profile      | UINT16   |
| nav_speed_max                 |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 10     | 2000   | 300           | Profile      | UINT16   |
| nav_slew_rate                 |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 30            | Profile      | UINT8    |
| serialrx_provider             | When feature SERIALRX is enabled, this allows connection to several receivers which output data via digital interface resembling serial. See RX section.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               | 0      | 6      | 0             | Master       | UINT8    |
| spektrum_sat_bind             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 10     | 0             | Master       | UINT8    |
| telemetry_switch              | Which aux channel to use to change serial output & baud rate (MSP / Telemetry). It disables automatic switching to Telemetry when armed.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               | 0      | 1      | 0             | Master       | UINT8    |
| telemetry_inversion           |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 1      | 0             | Master       | UINT8    |
| frsky_default_lattitude       |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | -90    | 90     | 0             | Master       | FLOAT    |
| frsky_default_longitude       |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | -180   | 180    | 0             | Master       | FLOAT    |
| frsky_coordinates_format      |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 1      | 0             | Master       | UINT8    |
| frsky_unit                    |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 1      | 0             | Master       | UINT8    |
| battery_capacity              |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 20000  | 0             | Master       | UINT16   |
| vbat_scale                    | Result is Vbatt in 0.1V steps. 3.3V = ADC Vref, 4095 = 12bit adc, 110 = 11:1 voltage divider (10k:1k) x 10 for 0.1V. Adjust this slightly if reported pack voltage is different from multimeter reading. You can get current voltage by typing "status"" in cli."                                                                                                                                                                                                                                                                                                                                                                                      | 0      | 255    | 110           | Master       | UINT8    |
| vbat_max_cell_voltage         | Maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, default is 43 (4.3V)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  | 10     | 50     | 43            | Master       | UINT8    |
| vbat_min_cell_voltage         | Minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 10     | 50     | 33            | Master       | UINT8    |
| vbat_warning_cell_voltage     |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 10     | 50     | 35            | Master       | UINT8    |
| current_meter_scale           | This sets the output voltage to current scaling for the current sensor in 0.1 mV/A steps. 400 is 40mV/A such as the ACS756 sensor outputs. 183 is the setting for the Überdistro with a 0.25mOhm shunt.                                                                                                                                                                                                                                                                                                                                                                                                                                                | -10000 | 10000  | 400           | Master       | INT16    |
| current_meter_offset          | This sets the output offset voltage of the current sensor in millivolts.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               | 0      | 3300   | 0             | Master       | UINT16   |
| multiwii_current_meter_output | Default current output via MSP is in 0.01A steps. Setting this to 1 causes output in default multiwii scaling (1mA steps).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             | 0      | 1      | None defined! | Master       | UINT8    |
| current_meter_type            |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 2      | 1             | Master       | UINT8    |
| align_gyro                    | When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. Default of zero means the driver determines alignment (and this generally means it's configured for standard hardware). Default orientation of X forward, Y right, Z up is 1. After that, the numbers are as follows, and mean sensor is rotated. CW0_DEG=1, CW90_DEG=2, CW180_DEG=3, CW270_DEG=4, CW0_DEG_FLIP=5, CW90_DEG_FLIP=6, CW180_DEG_FLIP=7, CW270_DEG_FLIP=8. This should cover all orientations. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. | 0      | 8      | 0             | Master       | UINT8    |
| align_acc                     | When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. Default of zero means the driver determines alignment (and this generally means it's configured for standard hardware). Default orientation of X forward, Y right, Z up is 1. After that, the numbers are as follows, and mean sensor is rotated. CW0_DEG=1, CW90_DEG=2, CW180_DEG=3, CW270_DEG=4, CW0_DEG_FLIP=5, CW90_DEG_FLIP=6, CW180_DEG_FLIP=7, CW270_DEG_FLIP=8. This should cover all orientations. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. | 0      | 8      | 0             | Master       | UINT8    |
| align_mag                     | When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. Default of zero means the driver determines alignment (and this generally means it's configured for standard hardware). Default orientation of X forward, Y right, Z up is 1. After that, the numbers are as follows, and mean sensor is rotated. CW0_DEG=1, CW90_DEG=2, CW180_DEG=3, CW270_DEG=4, CW0_DEG_FLIP=5, CW90_DEG_FLIP=6, CW180_DEG_FLIP=7, CW270_DEG_FLIP=8. This should cover all orientations. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. | 0      | 8      | 0             | Master       | UINT8    |
| align_board_roll              | Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         | -180   | 360    | 0             | Master       | INT16    |
| align_board_pitch             | Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         | -180   | 360    | 0             | Master       | INT16    |
| align_board_yaw               | Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         | -180   | 360    | 0             | Master       | INT16    |
| max_angle_inclination         | This setting controls max inclination (tilt) allowed in angle (level) mode. default 500 (50 degrees).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  | 100    | 900    | 500           | Master       | UINT16   |
| gyro_lpf                      | Hardware lowpass filter for gyro. Allowed values depend on the driver - For example MPU6050 allows 5,10,20,42,98,188,256Hz, while MPU3050 doesn't allow 5Hz. If you have to set gyro lpf below 42Hz generally means the frame is vibrating too much, and that should be fixed first. Values outside of supported range will usually be ignored by drivers, and will configure lpf to default value of 42Hz.                                                                                                                                                                                                                                            | 0      | 256    | 42            | Master       | UINT16   |
| moron_threshold               | When powering up, gyro bias is calculated. If the model is shaking/moving during this initial calibration, offsets are calculated incorrectly, and could lead to poor flying performance. This threshold (default of 32) means how much average gyro reading could differ before re-calibration is triggered.                                                                                                                                                                                                                                                                                                                                          | 0      | 128    | 32            | Master       | UINT8    |
| gyro_cmpf_factor              |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 100    | 1000   | 600           | Master       | UINT16   |
| gyro_cmpfm_factor             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 100    | 1000   | 250           | Master       | UINT16   |
| alt_hold_deadband             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 1      | 250    | 40            | Profile      | UINT8    |
| alt_hold_fast_change          |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 1      | 1             | Profile      | UINT8    |
| deadband                      | These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle.                                                                                                                                                                                                                                                                                                                                                                                              | 0      | 32     | 0             | Profile      | UINT8    |
| yaw_deadband                  | These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle.                                                                                                                                                                                                                                                                                                                                                                                              | 0      | 100    | 0             | Profile      | UINT8    |
| throttle_correction_value     | The throttle_correction_value will be added to the throttle input. It will be maximal at the throttle_correction_angle and over, null when the copter is leveled and proportional in bewteen. The angle is set with 0.1 deg steps from 1 to 900, ie : 300 = 30.0 deg, 225 = 22.5 deg.                                                                                                                                                                                                                                                                                                                                                                  | 0      | 150    | 0             | Profile      | UINT8    |
| throttle_correction_angle     | The throttle_correction_value will be added to the throttle input. It will be maximal at the throttle_correction_angle and over, null when the copter is leveled and proportional in bewteen. The angle is set with 0.1 deg steps from 1 to 900, ie : 300 = 30.0 deg, 225 = 22.5 deg.                                                                                                                                                                                                                                                                                                                                                                  | 1      | 900    | 800           | Profile      | UINT16   |
| yaw_control_direction         |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | -1     | 1      | 1             | Master       | INT8     |
| yaw_direction                 |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | -1     | 1      | 1             | Profile      | INT8     |
| tri_unarmed_servo             | On tricopter mix only, if this is set to 1, servo will always be correcting regardless of armed state. to disable this, set it to 0.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   | 0      | 1      | 1             | Profile      | INT8     |
| default_rate_profile          | Default = profile number                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               | 0      | 2      |               | Profile      | UINT8    |
| rc_rate                       |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 250    | 90            | Rate Profile | UINT8    |
| rc_expo                       |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 65            | Rate Profile | UINT8    |
| thr_mid                       |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 50            | Rate Profile | UINT8    |
| thr_expo                      |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 0             | Rate Profile | UINT8    |
| roll_pitch_rate               |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 0             | Rate Profile | UINT8    |
| yaw_rate                      |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 0             | Rate Profile | UINT8    |
| tpa_rate                      |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 0             | Rate Profile | UINT8    |
| tpa_breakpoint                | Throttle PID attenuation. Affects only P, I and D on ROLL and PITCH, it does not affect YAW.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       | 1000   | 2000   | 1500          | Rate Profile | UINT16   |
| failsafe_delay                |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 10            | Profile      | UINT8    |
| failsafe_off_delay            |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 200           | Profile      | UINT8    |
| failsafe_throttle             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 1000   | 2000   | 1200          | Profile      | UINT16   |
| failsafe_min_usec             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 100    | 2000   | 985           | Profile      | UINT16   |
| failsafe_max_usec             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 100    | 3000   | 2115          | Profile      | UINT16   |
| gimbal_flags                  | When feature SERVO_TILT is enabled, this can be a combination of the following numbers: 1=normal gimbal (default), 2=tiltmix gimbal, 4=in PPM (or SERIALRX) input mode, this will forward AUX1..4 RC inputs to PWM5..8 pins                                                                                                                                                                                                                                                                                                                                                                                                                            | 0      | 255    | 1             | Profile      | UINT8    |
| acc_hardware                  | This is used to suggest which accelerometer driver should load, or to force no accelerometer in case gyro-only flight is needed. Default (0) will attempt to auto-detect among enabled drivers. Otherwise, to force a particular device, set it to 2 for ADXL345, 3 for MPU6050 integrated accelerometer, 4 for MMA8452, 5 for BMA280, 6 for LSM303DLHC, 7 for SPI_MPU6000, 8 for SPI_MPU6500 or 1 to disable accelerometer alltogether - resulting in gyro-only operation.                                                                                                                                                                                                                                   | 0      | 9      | 0             | Master       | UINT8    |
| acc_lpf_factor                |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 250    | 4             | Profile      | UINT8    |
| accxy_deadband                |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 40            | Profile      | UINT8    |
| accz_deadband                 |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 40            | Profile      | UINT8    |
| accz_lpf_cutoff               |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 1      | 20     | 5             | Profile      | FLOAT    |
| acc_unarmedcal                |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 1      | 1             | Profile      | UINT8    |
| acc_trim_pitch                |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | -300   | 300    | 0             | Profile      | INT16    |
| acc_trim_roll                 |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | -300   | 300    | 0             | Profile      | INT16    |
| baro_tab_size                 |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 48     | 21            | Profile      | UINT8    |
| baro_noise_lpf                |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 1      | 0.6           | Profile      | FLOAT    |
| baro_cf_vel                   |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 1      | 0.985         | Profile      | FLOAT    |
| baro_cf_alt                   |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 1      | 0.965         | Profile      | FLOAT    |
| mag_hardware                  |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 3      | 0             | Master       | UINT8    |
| mag_declination               | Current location magnetic declination in format. For example, -6deg 37min, = for Japan. Leading zero in ddd not required. Get your local magnetic declination here: http://magnetic-declination.com/                                                                                                                                                                                                                                                                                                                                                                                                                                                   | -18000 | 18000  | 0             | Profile      | INT16    |
| pid_controller                |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 4      | 0             | Profile      | UINT8    |
| p_pitch                       |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 40            | Profile      | UINT8    |
| i_pitch                       |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 30            | Profile      | UINT8    |
| d_pitch                       |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 23            | Profile      | UINT8    |
| p_roll                        |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 40            | Profile      | UINT8    |
| i_roll                        |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 30            | Profile      | UINT8    |
| d_roll                        |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 23            | Profile      | UINT8    |
| p_yaw                         |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 85            | Profile      | UINT8    |
| i_yaw                         |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 45            | Profile      | UINT8    |
| d_yaw                         |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 0             | Profile      | UINT8    |
| p_pitchf                      |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 2.5           | Profile      | FLOAT    |
| i_pitchf                      |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 0.6           | Profile      | FLOAT    |
| d_pitchf                      |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 0.06          | Profile      | FLOAT    |
| p_rollf                       |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 2.5           | Profile      | FLOAT    |
| i_rollf                       |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 0.6           | Profile      | FLOAT    |
| d_rollf                       |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 0.06          | Profile      | FLOAT    |
| p_yawf                        |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 8             | Profile      | FLOAT    |
| i_yawf                        |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 0.5           | Profile      | FLOAT    |
| d_yawf                        |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 0.05          | Profile      | FLOAT    |
| level_horizon                 |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 10     | 3             | Profile      | FLOAT    |
| level_angle                   |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 10     | 5             | Profile      | FLOAT    |
| sensitivity_horizon           |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 250    | 75            | Profile      | UINT8    |
| p_alt                         |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 50            | Profile      | UINT8    |
| i_alt                         |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 0             | Profile      | UINT8    |
| d_alt                         |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 0             | Profile      | UINT8    |
| p_level                       |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 90            | Profile      | UINT8    |
| i_level                       |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 10            | Profile      | UINT8    |
| d_level                       |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 100           | Profile      | UINT8    |
| p_vel                         |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 120           | Profile      | UINT8    |
| i_vel                         |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 45            | Profile      | UINT8    |
| d_vel                         |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 200    | 1             | Profile      | UINT8    |
| blackbox_rate_num             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 1      | 32     | 1             | Master       | UINT8    |
| blackbox_rate_denom           |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 1      | 32     | 1             | Master       | UINT8    |
