Skip to main content

INAV CLI Variable Description (Part 2)

CoreWingAbout 22 minINAVINAVCLI变量导航PIDOSD返航航点

mag_calibration_time（Magnetometer Calibration Time）

  • Sets the duration of the magnetometer calibration process (in seconds).
  • Default value: 30
  • Value range: 20 ~ 120
  • Value range: NORMAL / MEDIUM / SLOW

mag_declination（Magnetic Declination）

  • Sets the magnetic declination for the current region (format: integer with degrees and minutes combined, e.g., -6 degrees 37 minutes is -637). This value will be ignored when INAV automatic magnetic declination is enabled (inav_auto_mag_decl=ON) and GPS has been acquired.
  • Default value: 0
  • Value range: -18000 ~ 18000

mag_hardware（Magnetometer Hardware Selection）

  • Specifies the magnetometer hardware to use, supporting automatic detection and fault diagnosis. See Wiki for details.
  • Default value: AUTO
  • Value range: AUTO

mag_to_use（Select Magnetometer）

  • Choose between built-in and external magnetometers if both are present (only applicable for REVO flight controllers).
  • Default value: 0
  • Value range: 0 ~ 1

maggain_x / y / z（Magnetometer Gain X/Y/Z）

  • Magnetometer calibration gain values for the X/Y/Z axes. 1024 indicates uncalibrated or calibration failed.
  • Default value: 1024
  • Value range: -32768 ~ 32767

magzero_x / y / z（Magnetometer Offset X/Y/Z）

  • Magnetometer calibration offset values for the X/Y/Z axes. 0 indicates not applied or calibration failed.
  • Default value: 0
  • Value range: -32768 ~ 32767

manual_pitch_rate（Manual Mode Pitch Rate Proportion）

  • In manual flight mode, the servo travel proportion for the PITCH channel, in percentage.
  • Default value: 100
  • Value range: 0 ~ 100

manual_rc_expo（Manual Mode Roll/Pitch Expo Value）

  • In manual flight mode, the Expo value for pitch and roll axes (control curve softness), in percentage.
  • Default value: 35
  • Value range: 0 ~ 100

manual_rc_yaw_expo（Manual Mode Yaw Expo Value）

  • In manual flight mode, the Expo value for the YAW axis (control curve softness), in percentage.
  • Default value: 20
  • Value range: 0 ~ 100

manual_roll_rate（Manual Mode Roll Rate Proportion）

  • In manual flight mode, the servo travel proportion for the ROLL channel, in percentage.
  • Default value: 100
  • Value range: 0 ~ 100

manual_yaw_rate（Manual Mode Yaw Rate Proportion）

  • In manual flight mode, the servo travel proportion for the YAW channel, in percentage.
  • Default value: 100
  • Value range: 0 ~ 100
  • Transmission rate for extended status messages in MAVLink telemetry.
  • Default value: 2
  • Value range: 0 ~ 255
  • Transmission rate for extra1 type messages in MAVLink telemetry.
  • Default value: 2
  • Value range: 0 ~ 255
  • Transmission rate for extra2 type messages in MAVLink telemetry.
  • Default value: 2
  • Value range: 0 ~ 255
  • Transmission rate for extra3 type messages in MAVLink telemetry.
  • Default value: 1
  • Value range: 0 ~ 255
  • Minimum percentage of space to reserve in the transmission buffer before sending MAVLink telemetry. 0 means always send. RADIO_STATUS message must be enabled.
  • Default value: 33
  • Value range: 0 ~ 100
  • Transmission rate for position messages in MAVLink telemetry.
  • Default value: 2
  • Value range: 0 ~ 255
  • MAVLink radio type. Affects how RSSI and LQ are displayed in the OSD.
  • Default value: GENERIC
  • Value range: GENERIC (General), etc.
  • Transmission rate for RC channel messages in MAVLink telemetry.
  • Default value: 1
  • Value range: 0 ~ 255
  • MAVLink protocol version used.
  • Default value: 2
  • Value range: 1 ~ 2

max_angle_inclination_pit（Maximum Pitch Angle Limit）

  • Maximum pitch angle limit in level mode (ANGLE mode). 100 represents 10 degrees.
  • Default value: 450
  • Value range: 100 ~ 900

max_angle_inclination_rll（Maximum Roll Angle Limit）

  • Maximum roll angle limit in level mode (ANGLE mode). 100 represents 10 degrees.
  • Default value: 450
  • Value range: 100 ~ 900

max_check（Channel Maximum Value Check）

  • Maximum value for the channel (in us) used to trigger RC commands such as arming, menu, etc. Default value is the upper limit of the RC range (typically 2000us) +100us.
  • Default value: 1900
  • Value range: PWM_RANGE_MIN ~ PWM_RANGE_MAX

mc_cd_lpf_hz（Control Derivative Low Pass Filter Frequency）

  • Low pass filter cutoff frequency for control derivative (CD, i.e., Feed Forward) signals. Lower values result in smoother filtering but more delay; higher values provide faster response but may contain more noise.
  • Default value: 30
  • Value range: 0 ~ 200

mc_cd_pitch（Pitch Axis Control Derivative Gain）

  • Multirotor pitch axis control derivative gain (equivalent to Feed Forward in Betaflight). Used to respond in advance based on setpoint changes, improving aircraft response speed.
  • Default value: 60
  • Value range: 0 ~ 255

mc_cd_roll（Roll Axis Control Derivative Gain）

  • Multirotor roll axis control derivative gain. Works the same as above.
  • Default value: 60
  • Value range: 0 ~ 255

mc_cd_yaw（Yaw Axis Control Derivative Gain）

  • Multirotor yaw axis control derivative gain. Works the same as above.
  • Default value: 60
  • Value range: 0 ~ 255

mc_d_level（Attitude Mode D Gain Transition Point）

  • Multirotor level mode (HORIZON) D gain trigger point for transitioning from angle control to rate control.
  • Default value: 75
  • Value range: 0 ~ 255

mc_d_pitch（Pitch Axis Rate D Gain）

  • Multirotor pitch axis rate loop D gain.
  • Default value: 23
  • Value range: 0 ~ 255

mc_d_roll（Roll Axis Rate D Gain）

  • Multirotor roll axis rate loop D gain.
  • Default value: 23
  • Value range: 0 ~ 255

mc_d_yaw（Yaw Axis Rate D Gain）

  • Multirotor yaw axis rate loop D gain.
  • Default value: 0
  • Value range: 0 ~ 255

mc_i_level（Attitude Mode I Filter Frequency）

  • Low pass filter cutoff frequency for the I term in multirotor attitude mode.
  • Default value: 15
  • Value range: 0 ~ 255

mc_i_pitch（Pitch Axis Rate I Gain）

  • Multirotor pitch axis rate loop I gain.
  • Default value: 30
  • Value range: 0 ~ 255

mc_i_roll（Roll Axis Rate I Gain）

  • Multirotor roll axis rate loop I gain.
  • Default value: 30
  • Value range: 0 ~ 255

mc_i_yaw（Yaw Axis Rate I Gain）

  • Multirotor yaw axis rate loop I gain.
  • Default value: 45
  • Value range: 0 ~ 255

mc_iterm_relax（Integral Term Relax Type）

  • Sets the relaxation behavior of the integral term Iterm when the sticks are centered, reducing bounce and inertia after-effects. Recommended to be enabled for all multirotors.
  • Default value: RP
  • Value range: RP / OFF / YAW, etc.

mc_iterm_relax_cutoff（Integral Term Relax Cutoff Frequency）

  • Sets the lower frequency limit (Hz) for integral term relaxation.
  • Default value: 15
  • Value range: 1 ~ 100

mc_p_level（Attitude Mode P Gain）

  • P gain in multirotor attitude stabilization mode (angle mode).
  • Default value: 20
  • Value range: 0 ~ 255

mc_p_pitch（Pitch Axis Rate P Gain）

  • Multirotor pitch axis rate loop P gain.
  • Default value: 40
  • Value range: 0 ~ 255

mc_p_roll（Roll Axis Rate P Gain）

  • Multirotor roll axis rate loop P gain.
  • Default value: 40
  • Value range: 0 ~ 255

mc_p_yaw (Yaw Rate P Gain)

  • P gain for the rate controller on the yaw axis for multirotors.
  • Default value: 85
  • Range: 0 ~ 255

min_check (Minimum Value Check)

  • Triggers certain RC commands (like arming, stick configuration) when channel PWM values fall below this value. Recommended RC channel range is 1000~2000us, with min_check defaulting to 100us below 1000us.
  • Default value: 1100
  • Range: PWM_RANGE_MIN ~ PWM_RANGE_MAX

min_command (Minimum Command Value)

  • PWM value sent to ESCs when the flight controller is disarmed. If ESCs continuously beep after power-on, try lowering this value. Also used for calibrating all ESCs uniformly.
  • Default value: 1000
  • Range: 0 ~ PWM_RANGE_MAX

mixer_automated_switch (Mixer Automated Switch)

  • When enabled, automatically switches mixer mode under the following conditions: Currently on a multirotor/tricopter platform with Return-to-Home (RTH) enabled and return distance exceeding 3×nav_fw_loiter_radius; Currently on a fixed-wing platform executing return-to-landing.
  • Default value: OFF
  • Range: OFF ~ ON

mixer_pid_profile_linking (Mixer-PID Profile Linking)

  • When enabled, different mixer configurations automatically switch to corresponding PID configurations, suitable for VTOL or hybrid platforms. When disabled, PID configurations must be managed manually.
  • Default value: OFF
  • Range: OFF ~ ON

mixer_switch_trans_timer (Mixer Switch Transition Timer)

  • Time in 0.1-second increments (ds) to activate transitional motor/servo mixing before mixer switching.
  • Default value: 0
  • Range: 0 ~ 200

mode_range_logic_operator (Mode Switch Logic Operator)

  • Logic determination when multiple channels are bound to the same flight mode: OR means only one channel needs to be activated, AND means all must be activated.
  • Default value: OR
  • Range: OR / AND

model_preview_type (Model Preview Type)

  • Indicates the mixer template number selected in the Configurator, used only for backup/restore, do not modify manually.
  • Default value: -1
  • Range: -1 ~ 32767

motor_direction_inverted (Motor Yaw Direction Inverted)

  • Enable this parameter to reverse the motor yaw control direction if the yaw direction is incorrect.
  • Default value: OFF
  • Range: OFF ~ ON

motor_poles (Motor Pole Pairs)

  • Sets the number of pole pairs for the motor, used to correctly calculate motor speed (RPM).
  • Default value: 14
  • Range: 4 ~ 255

motor_pwm_protocol (ESC Communication Protocol)

  • Sets the PWM protocol for communication between the flight controller and ESCs. Supported: STANDARD, ONESHOT125, ONESHOT42, MULTISHOT, DSHOT150, DSHOT300, DSHOT600, DSHOT1200, BRUSHED.
  • Default value: ONESHOT125
  • Range: Various protocols

motor_pwm_rate (Motor PWM Output Frequency)

  • Sets the frequency for motor output pins, only applicable to brushed motors (BRUSHED). Unit: Hz.
  • Default value: 16000
  • Range: 50 ~ 32000

motorstop_on_low (Motor Stop on Low Throttle)

  • When enabled, motors will stop spinning at minimum throttle (only affects the current mixer configuration).
  • Default value: ON
  • Range: OFF ~ ON

msp_override_channels (MSP Overridable Channel Mask)

  • Sets the channel mask that can be overridden via MSP_SET_RAW_RC. Requires firmware to have USE_RX_MSP and USE_MSP_RC_OVERRIDE enabled, and MSP RC Override mode to be activated.
  • Default value: 0
  • Range: 0 ~ 65535

name (Aircraft Name)

  • Sets the name identifier for the aircraft.
  • Default value: empty
  • Range: 0 ~ MAX_NAME_LENGTH (depending on compilation limits)
  • When nav_disarm_on_landing is enabled, the delay in milliseconds after landing before automatically disarming.
  • Default value: 1000
  • Range: 100 ~ 10000
  • Flight speed in full autonomous modes (like RTH, waypoints), unit: cm/s, applicable to multirotor aircraft.
  • Default value: 500
  • Range: 10 ~ 2000
  • Maximum yaw rate in navigation heading hold/cruise mode (unit: °/s). Setting to 0 for multirotors disables cruise mode.
  • Default value: 60
  • Range: 0 ~ 120
  • When enabled, the aircraft will automatically disarm after landing.
  • Default value: ON
  • Range: OFF ~ ON
  • Vertical descent speed the UAV attempts to maintain during emergency landing, unit: cm/s.
  • Default value: 500
  • Range: 100 ~ 2000
  • When enabled, prevents arming when GPS lock is not acquired and navigation modes (like RTH, POSHOLD) are enabled. Set to ALLOW_BYPASS to temporarily bypass via stick input.
  • Default value: ALLOW_BYPASS
  • Range: OFF / ON / ALLOW_BYPASS
  • Allows the pilot to manually increase throttle in automatic throttle control mode (fixed-wing only).
  • Default value: OFF
  • Range: OFF ~ ON
  • Adjusts the deceleration response as the flight controller approaches the target altitude, with smaller values making it less likely to overshoot.
  • Default value: 40
  • Range: 5 ~ 100
  • Maximum climb or descent speed allowed in navigation mode, unit: cm/s.
  • Default value: 500
  • Range: 10 ~ 2000
  • Maximum bank angle in GPS-assisted mode, also limited by max_angle_inclination_rll.
  • Default value: 35
  • Range: 5 ~ 80
  • Maximum pitch angle (for climbing) in GPS-assisted mode, also limited by max_angle_inclination_pit.
  • Default value: 20
  • Range: 5 ~ 80
  • Sets the smoothness of aircraft trajectory correction during automatic navigation, with higher values being smoother.
  • Default value: 0
  • Range: 0 ~ 9
  • Cruise speed used for calculating remaining flight time/distance, unit: cm/s.
  • Default value: 0
  • Range: 0 ~ 65535
  • Cruise throttle in GPS modes (like RTH), must be high enough to prevent stalling. The system uses this as a base and adjusts throttle based on attitude. If speed drops below 7m/s, throttle will be automatically increased.
  • Default value: 1400
  • Range: 1000 ~ 2000
  • Maximum negative pitch angle allowed in GPS-assisted mode, also limited by max_angle_inclination_pit.
  • Default value: 15
  • Range: 5 ~ 80
  • P gain for the heading hold controller in fixed-wing mode.
  • Default value: 60
  • Range: 0 ~ 255
  • Sets the straight-line distance for the final landing approach, unit: cm.
  • Default value: 35000
  • Range: 100 ~ 100000
  • Dive angle used in the final landing phase, unit: degrees. During this phase, motors stop or idle, and roll is locked at 0°.
  • Default value: 2
  • Range: -20 ~ 20
  • Adjustment coefficient for pitch to throttle in the final landing phase, unit: percentage.
  • Default value: 100
  • Range: 100 ~ 400
  • Starting altitude for the landing flare phase, unit: cm.
  • Default value: 150
  • Range: 0 ~ 10000
  • Target pitch angle during the flare phase of landing, in degrees.
  • Default: 8
  • Range: -15 ~ 45
  • Starting altitude for the glide phase of landing, in cm.
  • Default: 200
  • Range: 100 ~ 5000
  • Target pitch angle during the glide phase of landing, in degrees.
  • Default: 0
  • Range: -15 ~ 45
  • Maximum tailwind speed allowed if no headwind landing direction can be found, in cm/s.
  • Default: 140
  • Range: 0 ~ 300
  • Sets the sensitivity for landing detection. Higher values detect landing faster but with higher risk of false positives.
  • Default: 5
  • Range: 1 ~ 15
  • Vertical descent speed (cm/s) when above the slowdown altitude (nav_land_slowdown_maxalt) during the return-to-home landing phase.
  • Default: 200
  • Range: 100 ~ 2000
  • Target descent speed (cm/s) when below the slowdown completion altitude (nav_land_slowdown_minalt) during the return-to-home landing phase.
  • Default: 50
  • Range: 50 ~ 500
  • From this altitude, the descent speed gradually decreases from nav_land_maxalt_vspd to nav_land_minalt_vspd.
  • Default: 2000
  • Range: 500 ~ 4000
  • After reaching this altitude, the descent speed begins to maintain at nav_land_minalt_vspd.
  • Default: 500
  • Range: 50 ~ 1000
  • When enabled, landing is immediately detected through acceleration (G impact). Only applicable to multirotors. Requires barometer and GPS.
  • Default: OFF
  • Range: OFF ~ ON
  • Maximum flight speed (cm/s) allowed when processing pilot input in POSHOLD / CRUISE control modes. Multirotor only.
  • Default: 750
  • Range: 10 ~ 2000
  • Maximum altitude allowed in all navigation modes (relative to return point), 0 means no limit.
  • Default: 0
  • Range: 0 ~ 65000
  • Maximum speed (cm/s) in fully autonomous flight modes such as RTH / waypoint navigation. Multirotor only.
  • Default: 1000
  • Range: 10 ~ 2000
  • Maximum ground-relative altitude (cm) allowed in terrain follow mode.
  • Default: 100
  • Range: No minimum ~ 1000
  • Sets the throttle reference type for ALTHOLD mode. Options are STICK (maintain current stick position), MID_STICK, or HOVER.
  • Default: STICK
  • Range: STICK / MID_STICK / HOVER
  • Maximum allowed climb/descent speed in multirotor navigation modes, in cm/s.
  • Default: 500
  • Range: 10 ~ 2000
  • Maximum bank angle (°) allowed under navigation control, aircraft must be able to maintain altitude at this angle.
  • Default: 35
  • Range: 15 ~ 45
  • Maximum bank angle (°) allowed for multirotor in BOOST mode.
  • Default: 40
  • Range: 15 ~ 60
  • Automatically exits BOOST mode when flight speed drops below this value.
  • Default: 100
  • Range: 0 ~ 1000
  • Acceleration adjustment factor for the BOOST acceleration phase.
  • Default: 100
  • Range: 0 ~ 20
  • Allows entry into BOOST mode when speed is above this value.
  • Default: 150
  • Range: 100 ~ 1000
  • Maximum duration for BOOST mode, in ms.
  • Default: 750
  • Range: 0 ~ 5000
  • Exits braking mode when speed drops below this value.
  • Default: 75
  • Range: 0 ~ 1000
  • Allows braking function activation when speed is above this value.
  • Default: 100
  • Range: 0 ~ 1000
  • Maximum duration for braking mode, in ms.
  • Default: 2000
  • Range: 100 ~ 5000
  • Minimum ground speed allowed in navigation flight modes, only effective for fixed-wing, in m/s.
  • Default: 7
  • Range: 6 ~ 50
  • When distance to return point is less than this value, RTH will initiate at current position and execute final phase (circle/land); if greater, complete RTH procedure is executed. Unit: cm.
  • Default: 500
  • Range: 0 ~ 5000
  • If enabled, switching the mission switch from ON→OFF→ON will reset the number of mission waypoints to 0.
  • Default: ON
  • Range: OFF ~ ON
  • Controls whether navigation system is allowed to take over motor control at low throttle to prevent motor stop in navigation modes. Default ALL_NAV means navigation completely takes over motor control.
  • Default: ALL_NAV
  • Options: OFF / OFF_ALWAYS / AUTO_ONLY / ALL_NAV
  • Seconds to wait after GPS loss before switching to emergency landing mode. Set to 0 to disable this protection.
  • Default: 5
  • Range: 0 ~ 10
  • If distance to return point continuously increases during RTH and exceeds the set threshold (cm), RTH will be terminated and emergency self-stabilized landing mode will be entered. 0 means disable this function.
  • Default: 50000
  • Range: 0 ~ 65000
  • Whether to allow automatic landing in the final phase of RTH mode.
  • Default: ALWAYS
  • Options: OFF / ALWAYS / FS_ONLY
  • When enabled, RTH altitude or turning strategy can be manually modified by holding the stick during RTH (applicable to fixed-wing).
  • Default: OFF
  • Range: OFF ~ ON
  • Altitude control mode during return: AT_LEAST means return altitude will be at least the specified value.
  • Default: AT_LEAST
  • Options: EXACT / FIXED / AT_LEAST
  • Altitude the aircraft should climb to in RTH mode (cm).
  • Default: 1000
  • Range: 0 ~ 65000
  • For fixed-wing: ON for linear climb, ON_FW_SPIRAL for spiral climb; OFF for climb while flying. For multirotors, both options have the same effect.
  • Default: ON
  • Options: OFF / ON / ON_FW_SPIRAL
  • Sets the transition altitude (cm) from climbing to cruising in RTH staged mode. Set to 0 to disable.
  • Default: 0
  • Range: 0 ~ 65000
  • Sets the usage mode for nav_rth_climb_first_stage_altitude.
  • Default: AT_LEAST
  • Options: AT_LEAST / ABOVE / FIXED etc.
  • When enabled, the RTH climb phase will ignore GPS status and force climbing.
  • Default: OFF
  • Range: OFF ~ ON
  • Delay time (seconds) before executing landing in failsafe state. 0 means immediate landing.
  • Default: 0
  • Range: 0 ~ 1800
  • Altitude the aircraft should climb to or descend to upon reaching home point during RTH. Set to 0 to maintain return altitude. Unit: cm.
  • Default: 0
  • Range: 0 ~ 65000
  • Sets the distance (m) to start linear descent. Set to 0 to start immediately.
  • Default: 0
  • Range: 0 ~ 10000
  • Whether multirotors should return with tail first (not applicable to fixed-wing).
  • Default: OFF
  • Range: OFF ~ ON
  • Maximum trackback distance (m). Conventional RTH will be executed if exceeded.
  • Default: 500
  • Range: 50 ~ 2000
  • Enable trackback. OFF: Disabled; ON: Enabled for both RTH and Failsafe; FS: Enabled only for failsafe.
  • Default: OFF
  • Options: OFF / ON / FS
  • When enabled, the return process will gradually descend to nav_rth_home_altitude.
  • Default: OFF
  • Range: OFF ~ ON
  • Whether to enable the yaw PID controller for fixed-wing (always enabled for multirotors).
  • Default: OFF
  • Range: OFF ~ ON
  • Sets the control method for stick input in POSHOLD mode: ATTI for attitude control, CRUISE for speed control.
  • Default: ATTI
  • Options: ATTI / CRUISE
  • Aircraft must satisfy both waypoint position and altitude before proceeding to the next waypoint. This parameter sets the altitude tolerance range (unit: cm). Set to 0 to disable.
  • Default: 0
  • Range: 0 ~ 2000
  • When set to ON, the flight controller will automatically load waypoint missions from EEPROM on startup.
  • Default: OFF
  • Range: OFF ~ ON
  • The first waypoint cannot exceed this distance from the flight controller position (unit: meters). Set to 0 for no limit.
  • Default: 100
  • Range: 0 ~ 1500
  • Restart strategy after waypoint mission interruption: START to restart from the first waypoint, RESUME to continue from the interruption point, SWITCH means enable RESUME once then return to START mode.
  • Default: RESUME
  • Options: START / RESUME / SWITCH
  • Index number of the currently active mission (maximum 9 missions supported).
  • Default: 1
  • Range: 1 ~ 9
  • Effective radius (unit: cm) for determining if a waypoint has been reached.
  • Default: 100
  • Range: 10 ~ 10000

opflow_hardware（Optical Flow Module Model）

  • Select the optical flow sensor hardware type to use.
  • Default: NONE
  • Options: NONE / specific model

opflow_scale（Optical Flow Scale Factor）

  • Sets the scaling factor for the optical flow sensor.
  • Default: 10.5
  • Range: 0 ~ 10000

osd_adsb_distance_alert（ADSB Alert Distance）

  • OSD will flash ADSB data for warning when distance is less than this value. Unit: cm.
  • Default: 3000
  • Range: 1 ~ 64000

osd_adsb_distance_warning（ADSB Display Distance）

  • Maximum distance for displaying ADSB aircraft information, unit: m.
  • Default: 20000
  • Range: 1 ~ 64000

osd_adsb_ignore_plane_above_me_limit（Ignore ADSB Aircraft Above Height Limit）

  • Ignore ADSB aircraft above this height, unit: m; 0 means don't ignore.
  • Default: 0
  • Range: 0 ~ 64000

osd_ahi_bordered（AHI Area with Border）

  • Display border in the artificial horizon indicator (AHI) area, only applicable to Pixel OSD.
  • Default: OFF
  • Range: OFF ~ ON

osd_ahi_camera_uptilt_comp（AHI Camera Uptilt Compensation）

  • When enabled, AHI display will consider osd_camera_uptilt settings for offset display.
  • Default: OFF
  • Range: OFF ~ ON

osd_ahi_height（AHI Display Height）

  • AHI area height (unit: pixels, only applicable to Pixel OSD).
  • Default: 162
  • Range: none ~ 255

osd_ahi_max_pitch（AHI Maximum Pitch Angle）

  • Maximum pitch angle for AHI display, unit: degrees.
  • Default: 20
  • Range: 10 ~ 90

osd_ahi_pitch_interval（AHI Pitch Interval）

  • Sets the pitch line drawing interval for AHI. Set to 0 to disable (not for Pixel OSD).
  • Default: 0
  • Range: 0 ~ 30

osd_ahi_reverse_roll（Reverse AHI Roll Direction）

  • When enabled, AHI will reverse roll display in a direction indicator manner.
  • Default: OFF
  • Range: OFF ~ ON

osd_ahi_style（AHI Style）

  • Sets the display style for the artificial horizon indicator, applicable to FrSky graphical OSD.
  • Default: DEFAULT
  • Options: DEFAULT / LINE

osd_ahi_vertical_offset（AHI Vertical Offset）

  • Vertical offset value of AHI relative to OSD center, only applicable to Pixel OSD.
  • Default: -18
  • Range: -128 ~ 127

osd_ahi_width（AHI Display Width）

  • AHI area width (unit: pixels, only applicable to Pixel OSD).
  • Default: 132
  • Range: min value none ~ 255

osd_airspeed_alarm_max（Airspeed Upper Limit Warning）

  • Airspeed element flashes for warning when airspeed is higher than this value, unit: cm/s.
  • Default: 0
  • Range: 0 ~ 27000

osd_airspeed_alarm_min（Airspeed Lower Limit Warning）

  • Airspeed element flashes for warning when airspeed is lower than this value, unit: cm/s.
  • Default: 0
  • Range: 0 ~ 27000

osd_alt_alarm（Altitude Alarm）

  • OSD altitude element flashes for warning when relative altitude is higher than this value, unit: meters.
  • Default: 100
  • Range: 0 ~ 10000

osd_arm_screen_display_time（Arm Screen Display Time）

  • Duration of the arm screen display (ms).
  • Default value: 1500
  • Value range: 1000 ~ 5000

osd_baro_temp_alarm_max（Barometer Temperature High Limit Alarm）

  • When the barometer temperature exceeds this value, the item flashes in the OSD as an alarm, unit: 0.1°C.
  • Default value: 600 (i.e., 60.0°C)
  • Value range: -550 ~ 1250

osd_baro_temp_alarm_min（Barometer Temperature Low Limit Alarm）

  • When the barometer temperature is below this value, the item flashes in the OSD as an alarm, unit: 0.1°C.
  • Default value: -200 (i.e., -20.0°C)
  • Value range: -550 ~ 1250

osd_camera_fov_h（Camera Horizontal Field of View）

  • Camera's horizontal field of view, unit: degrees.
  • Default value: 135
  • Value range: 60 ~ 150

osd_camera_fov_v（Camera Vertical Field of View）

  • Camera's vertical field of view, unit: degrees.
  • Default value: 85
  • Value range: 30 ~ 120

osd_camera_uptilt（Camera Uptilt Angle）

  • FPV camera's upward tilt angle relative to the horizontal plane, positive values indicate upward tilt, negative values indicate downward tilt, unit: degrees. Used to calibrate HUD and AHI display position.
  • Default value: 0
  • Value range: -40 ~ 80

osd_coordinate_digits（Coordinate Decimal Places）

  • Number of decimal places for latitude and longitude coordinates displayed in OSD.
  • Default value: 9
  • Value range: 8 ~ 11

osd_crosshairs_style（Crosshairs Style）

  • Sets the visual style of crosshairs in the OSD.
  • Default value: DEFAULT
  • Optional values: DEFAULT, etc.
  • Selects the display format for CRSF LQ.
  • Default value: TYPE1
  • Optional values: TYPE1 / TYPE2, etc.

osd_current_alarm（Current Alarm Threshold）

  • When the current exceeds this setting, the current value flashes in the OSD as a warning, unit: A.
  • Default value: 0
  • Value range: 0 ~ 255

osd_decimals_altitude（Altitude Decimal Places）

  • Number of decimal places for relative altitude display in OSD.
  • Default value: 3
  • Value range: 3 ~ 5

osd_decimals_distance（Distance Decimal Places）

  • Number of decimal places for various distances (return distance, total flight distance, etc.) in OSD.
  • Default value: 3
  • Value range: 3 ~ 5

osd_dist_alarm（Distance Alarm Threshold）

  • Triggers OSD flashing alarm when distance from home point exceeds this value (meters).
  • Default value: 1000
  • Value range: 0 ~ 50000

osd_esc_rpm_precision（ESC RPM Precision）

  • Number of characters for displaying ESC RPM in OSD.
  • Default value: 3
  • Value range: 3 ~ 6

osd_esc_temp_alarm_max（ESC Temperature High Limit Alarm）

  • Flashes as an alarm when ESC temperature exceeds this value, unit: 0.1°C.
  • Default value: 900 (i.e., 90.0°C)
  • Value range: -550 ~ 1500

osd_esc_temp_alarm_min（ESC Temperature Low Limit Alarm）

  • Flashes as an alarm when ESC temperature is below this value, unit: 0.1°C.
  • Default value: -200 (i.e., -20.0°C)
  • Value range: -550 ~ 1500

osd_estimations_wind_compensation（Enable Wind Compensation Estimation）

  • Enables wind estimation function for remaining flight time and distance estimation.
  • Default value: ON
  • Value range: OFF ~ ON

osd_estimations_wind_mps（Wind Speed Estimation Enable）

  • Whether to enable wind speed estimation, unit: m/s.
  • Default value: OFF
  • Value range: OFF ~ ON

osd_failsafe_switch_layout（Failsafe Switch OSD Layout）

  • When enabled, automatically switches to the first OSD layout interface during failsafe.
  • Default value: OFF
  • Value range: OFF ~ ON

osd_force_grid（Force Grid Mode）

  • Forces the use of grid mode even if the OSD device supports pixel-level drawing, mainly used for debugging.
  • Default value: OFF
  • Value range: OFF ~ ON

osd_gforce_alarm（G-Force Alarm Threshold）

  • When G-force exceeds this value, the acceleration element flashes in the OSD as a warning.
  • Default value: 5
  • Value range: 0 ~ 20

osd_gforce_axis_alarm_max（Axis G-Force High Limit Alarm）

  • Triggers OSD alarm when single-axis G-force exceeds this value.
  • Default value: 5
  • Value range: -20 ~ 20

osd_gforce_axis_alarm_min（Axis G-Force Low Limit Alarm）

  • Triggers OSD alarm when single-axis G-force is below this value.
  • Default value: -5
  • Value range: -20 ~ 20

osd_highlight_djis_missing_font_symbols（Highlight DJI Missing Font Symbols）

  • Whether to mark missing symbols in DJI font with a "?" (enabled) or space (disabled). Only applicable in DJICOMPAT mode.
  • Default value: ON
  • Value range: OFF ~ ON

osd_home_position_arm_screen（Display Home Point on Arm Screen）

  • Whether to display home point coordinate information on the arm screen.
  • Default value: ON
  • Value range: OFF ~ ON

osd_horizon_offset（HUD Vertical Offset）

  • Moves the entire HUD and AHI display up or down.
  • Default value: 0
  • Value range: -2 ~ 2

osd_hud_homepoint（HUD Display Home Point）

  • Whether to display the return point position in 3D form in the HUD.
  • Default value: OFF
  • Value range: OFF ~ ON

osd_hud_homing（HUD Display Direction Indicator Arrow）

  • Whether to display direction indicator arrows around the crosshairs pointing to the home point.
  • Default value: OFF
  • Value range: OFF ~ ON

osd_hud_margin_h（HUD Horizontal Margin）

  • Sets the left and right margins for the HUD.
  • Default value: 3
  • Value range: 0 ~ 4

osd_hud_margin_v（HUD Vertical Margin）

  • Sets the top and bottom margins for the HUD.
  • Default value: 3
  • Value range: 1 ~ 3

osd_hud_radar_alt_difference_display_time（Radar Altitude Difference Display Time）

  • Duration for displaying altitude difference in the radar map, unit: seconds.
  • Default value: 3
  • Value range: 0 ~ 10

osd_hud_radar_disp（HUD Radar Target Display Count）

  • Maximum number of nearby targets displayed in HUD (sent by ESP32 LoRa module). 0 means disabled.
  • Default value: 0
  • Value range: 0 ~ 4

osd_hud_radar_distance_display_time（Radar Distance Display Time）

  • Duration for displaying distance to target in the radar map, unit: seconds.
  • Default value: 3
  • Value range: 1 ~ 10

osd_hud_radar_range_max（Radar Target Maximum Display Distance）

  • Targets beyond this distance will no longer be displayed in the HUD, unit: meters.
  • Default value: 4000
  • Value range: 100 ~ 9990

osd_hud_radar_range_min（Radar Target Minimum Display Distance）

  • Targets closer than this distance will not be displayed in the HUD, unit: meters.
  • Default value: 3
  • Value range: 1 ~ 30

osd_hud_wp_disp（HUD Waypoint Display Count）

  • Sets the number of navigation waypoints displayed in the HUD. 0 means not displayed.
  • Default value: 0
  • Value range: 0 ~ 3

osd_imu_temp_alarm_max（IMU Temperature High Limit Alarm）

  • When IMU temperature exceeds this value, OSD flashes as an alarm, unit: 0.1°C.
  • Default value: 600 (i.e., 60°C)
  • Value range: -550 ~ 1250

osd_imu_temp_alarm_min（IMU Temperature Low Limit Alarm）

  • When IMU temperature is below this value, OSD flashes as an alarm, unit: 0.1°C.
  • Default value: -200 (i.e., -20°C)
  • Value range: -550 ~ 1250

osd_imu_temp_alarm_min（IMU Temperature Low Limit Alarm）

  • When IMU temperature is below this value, OSD flashes as an alarm, unit: 0.1°C.
  • Default value: -200 (i.e., -20°C)
  • Value range: -550 ~ 1250

osd_inav_to_pilot_logo_spacing（INAV to Pilot Logo Spacing）

  • If pilot logo is enabled, sets the spacing with the INAV Logo. Used for centering adjustment on odd-column displays.
  • Default value: 8
  • Value range: 0 ~ 20

osd_joystick_enabled（Enable Joystick Simulation）

  • Whether to enable OSD joystick simulation (control up/down/left/right and confirm via PWM).
  • Default value: OFF
  • Value range: OFF ~ ON

osd_joystick_up / down / left / right / enter（Joystick Control Values）

  • Set the PWM values for UP/DOWN/LEFT/RIGHT/ENTER keys, unit: % (maximum 100).
  • Default value: UP:48, DOWN:0, LEFT:63, RIGHT:28, ENTER:75
  • Value range: 0 ~ 100

osd_left_sidebar_scroll（Left Sidebar Scroll Type）

  • Set the scroll type for the left sidebar (e.g., displaying voltage/current).
  • Default value: NONE
  • Optional values: NONE / STATIC / VOLTAGE / MAH etc.

osd_left_sidebar_scroll_step（Sidebar Scroll Step Unit）

  • The numerical unit for each step. 0 means use default unit.
  • Default value: 0
  • Value range: 0 ~ 255
  • When link quality (LQ) is below this value, OSD flashes alarm. Recommended 70% for Crossfire, 50% for Tracer.
  • Default value: 70
  • Value range: 0 ~ 100

osd_mah_precision（Battery Capacity Precision Display Digits）

  • Number of decimal places for battery capacity (used mAh, remaining capacity) display in OSD.
  • Default value: 4
  • Value range: 3 ~ 6

osd_main_voltage_decimals（Main Voltage Decimal Places）

  • Number of decimal places for battery voltage display in OSD.
  • Default value: 1
  • Value range: 1 ~ 2

osd_msp_displayport_fullframe_interval（Full Frame Refresh Interval）

  • MSP DisplayPort full frame refresh interval (unit: 0.1 seconds). -1 means disabled; 0 means refresh every frame (not recommended).
  • Default value: 10
  • Value range: -1 ~ 600

osd_neg_alt_alarm（Negative Altitude Alarm）

  • When relative altitude is below this value (usually negative), OSD flashes alarm, unit: meters.
  • Default value: 5
  • Value range: 0 ~ 10000

osd_pan_servo_index（Gimbal Pan Servo Channel Index）

  • Set the channel index for the panning servo used for gimbal direction correction (non-continuous rotation servo).
  • Default value: 0
  • Value range: 0 ~ 16

osd_pan_servo_indicator_show_degrees（Display Gimbal Deviation Angle）

  • Whether to display the gimbal's deviation angle from centerline in OSD.
  • Default value: OFF
  • Value range: OFF ~ ON

osd_pan_servo_offcentre_warning（Gimbal Off-Center Warning Angle）

  • If the gimbal stays off-center beyond this angle for an extended period, it will trigger a flashing warning (unit: degrees, 0 means disabled).
  • Default value: 10
  • Value range: 0 ~ 45

osd_pan_servo_pwm2centideg（PWM to Yaw Angle Conversion Factor）

  • Conversion factor between servo PWM pulse width and angle (unit: centidegrees). Typical 180° servo is 18. Negative sign can reverse direction.
  • Default value: 0
  • Value range: -36 ~ 36

osd_plus_code_digits（Plus Code Display Digits）

  • Total number of digits for Plus Code display. Precision examples: 10 digits = 13.9×13.9 meters, 11 digits = 2.8×3.5 meters, 12 digits = 56×87 cm, 13 digits = 11×22 cm.
  • Default value: 11
  • Value range: 10 ~ 13

osd_plus_code_short（Plus Code Shortening Digits）

  • Number of leading digits to remove when shortening Plus Code. Removing 2/4/6 digits respectively requires reference position within ~800km / ~40km / ~2km range.
  • Default value: 0

osd_radar_peers_display_time（Radar Target Display Time）

  • Duration a single peer target is displayed in OSD radar (seconds).
  • Default value: 3
  • Value range: 1 ~ 10

osd_right_sidebar_scroll（Right Sidebar Scroll Type）

  • Set the scroll content type for the right sidebar.
  • Default value: NONE

osd_right_sidebar_scroll_step（Right Sidebar Scroll Step）

  • Unit represented by each scroll, 0 means use default.
  • Default value: 0
  • Value range: 0 ~ 255

osd_row_shiftdown（OSD Downward Row Shift）

  • If screen top is obstructed, set the number of rows to shift OSD down.
  • Default value: 0
  • Value range: 0 ~ 1

osd_rssi_alarm（RSSI Alarm Value）

  • When RSSI is below this value, the RSSI element flashes alarm.
  • Default value: 20
  • Value range: 0 ~ 100

osd_rssi_dbm_alarm（RSSI dBm Alarm Value）

  • Alarm when dBm signal strength is below this value, unit: dBm. Set to 0 to disable.
  • Default value: 0
  • Value range: -130 ~ 0

osd_rssi_dbm_max（RSSI dBm Curve Upper Limit）

  • RSSI reaching this dBm value is considered 100%.
  • Default value: -30
  • Value range: -50 ~ 0

osd_rssi_dbm_min（RSSI dBm Curve Lower Limit）

  • RSSI reaching this dBm value is considered 0%.
  • Default value: -120
  • Value range: -130 ~ 0

osd_sidebar_height（Sidebar Height）

  • Set the number of rows for the sidebar, when height is 0 only indicator arrows are displayed (not valid for Pixel OSD).
  • Default value: 3
  • Value range: 0 ~ 5

osd_sidebar_horizontal_offset（Sidebar Horizontal Offset）

  • Set the horizontal offset for the sidebar, positive values move toward screen edge.
  • Default value: 0
  • Value range: -128 ~ 127

osd_sidebar_scroll_arrows（Display Scroll Arrows）

  • Whether to display up/down scroll arrows in the sidebar.
  • Default value: OFF
  • Value range: OFF ~ ON

osd_snr_alarm（SNR Alarm Threshold）

  • Pop up alarm when Crossfire SNR value is below this setting, unit: dB.
  • Default value: 4
  • Value range: -20 ~ 99

osd_speed_source（Speed Display Source）

  • Speed type displayed in OSD: ground speed (GROUND), 3D speed, airspeed (AIR).
  • Default value: GROUND

osd_stats_energy_unit（Statistics Page Energy Unit）

  • Energy unit used in OSD statistics page, supports mAh (milliampere-hours) or Wh (watt-hours).
  • Default value: MAH

osd_stats_page_auto_swap_time（Statistics Page Auto Swap Time）

  • Interval time for switching between pages in statistics page after unlocking (seconds), set to 0 to disable auto-switching.
  • Default value: 3
  • Value range: 0 ~ 10

osd_stats_show_metric_efficiency（Display Metric Efficiency）

  • When enabled, displays metric efficiency information (e.g., mAh/km) on statistics page.
  • Default value: OFF
  • Value range: OFF ~ ON

osd_switch_indicator_zero_channelthree_channel（OSD Switch Channel 03）

  • Specify the RC channel number bound to each of the OSD switch indicators 0~3.
  • Default value: 5
  • Value range: 5 ~ MAX_SUPPORTED_RC_CHANNEL_COUNT

osd_switch_indicator_zero_name ~ three_name（OSD Switch Names）

  • Set the label text displayed for switches 0~3 in OSD (e.g., FLAP, CAM, GEAR, LIGT).
  • Default value: FLAP / CAM / GEAR / LIGT

osd_switch_indicators_align_left（Switch Name Left Alignment）

  • Whether to left-align OSD switch names.
  • Default value: None
  • Optional values: ON / OFF (default value not listed, but format is consistent)

osd_system_msg_display_time（System Message Rotation Display Time）

  • Cycle time for multiple system messages to display in rotation, unit: milliseconds.
  • Default value: 1000
  • Value range: 500 ~ 5000

osd_telemetry（OSD Telemetry Output）

  • Whether to enable OSD telemetry output for antenna trackers.
  • Default value: OFF
  • Optional values: OFF / ON / TEST

osd_temp_label_align（Temperature Label Alignment）

  • Set the alignment direction for temperature sensor labels in OSD.
  • Default value: LEFT
  • Optional values: LEFT / RIGHT

osd_time_alarm（Flight Time Alarm）

  • After flight time exceeds this value (in minutes), the OSD time indicator will flash to alarm.
  • Default value: 10
  • Range: 0 ~ 600

osd_units（Unit System）

  • Set the unit system to be used.
  • Default value: METRIC
  • Options: IMPERIAL / METRIC / UK
  • Whether to enable custom pilot logo (next to or replacing the INAV logo).
  • Default value: OFF
  • Range: OFF ~ ON

osd_video_system（OSD Video System）

  • Set the type of video system to be used.
  • Default value: AUTO
  • Options: AUTO / PAL / NTSC / HDZERO / DJIWTF / AVATAR / BF43COMPAT

pid_iterm_limit_percent（PID I Term Limit Percent）

  • Limit the maximum percentage of I term accumulation (relative to PIDSUM). Prevents servo saturation before takeoff or low control force issues on multirotors. Set to 0 to completely disable the limit.
  • Default value: 33
  • Range: 0 ~ 200

pid_type（PID Controller Type）

  • Set the type of PID controller used in the control loop. Use PIFF for regular aircraft, PID for multirotors.
  • Default value: AUTO
  • Options: NONE / PID / PIFF / AUTO

pilot_name（Pilot Name）

  • Set the pilot name, used for OSD display, etc.
  • Default value: empty
  • Range: Any characters, maximum length of MAX_NAME_LENGTH

pinio_box1~4（PINIO Mode Binding）

  • Set the functional mode for PINIO#1~#4 respectively.
  • Default value: BOX_PERMANENT_ID_NONE

pitch_rate（Maximum Pitch Rotation Rate）

  • Set the maximum PITCH axis rotation rate, in deca-degrees/s (ten degrees per second). 20 represents 200°/s, maximum 180 represents 1800°/s.
  • Default value: 20
  • Range: 4 ~ 180
  • Range: 0 ~ 255

Important

For more CLI variable descriptions, refer to:  https://docs.corewing.com/plane/other/inav/cli-vars-1.html
https://docs.corewing.com/plane/other/inav/cli-vars-3.html

————This article is referenced from the INAV official website: https://github.com/iNavFlight/inav/blob/master/docs/Settings.md

CoreWing Knowledge Base·Fixed-wing tuning & software docs
© 2020–2026 CoreWing · docs.corewing.com