INAV CLI Variable Description (Part 3)

CoreWingAbout 10 minINAVINAVCLI变量图传遥测接收机VTX

pitot_lpf_milli_hz（Pitot Low-Pass Filter Cutoff Frequency）

• Low-pass filter frequency for Pitot tube speed signals. Lower values result in smoother but slower response.
• Default value: 350
• Range: 0 ~ 10000

pitot_hardware（Pitot Sensor Type）

• Sets the type of Pitot tube hardware used.
• Default value: NONE
• Optional values: NONE / specific models

pitot_scale（Pitot Scale Factor）

Scaling factor for Pitot tube speed readings.
Default value: 1.0
Range: 0 ~ 100

platform_type（Flight Controller Platform Type）

Sets the UAV type. Currently supports MULTIROTOR, AIRPLANE, TRICOPTER.
Default value: MULTIROTOR
Optional values: MULTIROTOR / AIRPLANE / HELICOPTER / TRICOPTER / ROVER / BOAT

pos_hold_deadband（Position Hold Deadband）

Stick deadband for position hold in navigation mode, in units of r/c points.
Default value: 10
Range: 2 ~ 250

prearm_timeout（Pre-arm Timeout）

• Sets the valid time for pre-arm state, in ms. Exceeding this time requires re-prearming. Set to 0 for no timeout limit.
• Default value: 10000
• Range: 0 ~ 10000

rangefinder_hardware（Rangefinder Hardware Type）

• Sets the model of rangefinder used.
• Default value: NONE

rangefinder_median_filter（Rangefinder Median Filter）

• Enables 3-point median filtering to smooth rangefinder readings.
• Default value: OFF
• Range: OFF ~ ON

rate_accel_limit_roll_pitch（Roll/Pitch Acceleration Limit）

• Limits acceleration for roll/pitch response, in units of °/s². Set to 0 for no limit.
• Default value: 0
• Range: 0 ~ 500000

rate_accel_limit_yaw（Yaw Acceleration Limit）

• Limits acceleration for yaw response, in units of °/s². Set to 0 for no limit.
• Default value: 10000
• Range: 0 ~ 500000

rate_dynamics_center_correction（Center Stick Correction）

• Response correction coefficient for the middle stick area in Rate Dynamics mode.
• Default value: 10
• Range: 10 ~ 95

rate_dynamics_center_sensitivity（Center Stick Sensitivity）

• Sensitivity setting for the middle stick area.
• Default value: 100
• Range: 25 ~ 175

rate_dynamics_center_weight（Center Stick Weight）

• Weight setting for the middle stick area's contribution to overall response.
• Default value: 0
• Range: 0 ~ 95

rate_dynamics_end_correction（End Stick Correction）

• Response correction coefficient for the stick end area in Rate Dynamics mode.
• Default value: 10
• Range: 10 ~ 95

rate_dynamics_end_sensitivity（End Stick Sensitivity）

• Sensitivity setting for the stick end area.
• Default value: 100
• Range: 25 ~ 175

rate_dynamics_end_weight（End Stick Weight）

• Weight setting for the stick end area's contribution to overall response.
• Default value: 0
• Range: 0 ~ 95

rc_expo（Roll/Pitch Expo Value）

• Expo value for PITCH/ROLL axes in all stabilization modes (excluding MANUAL mode).
• Default value: 70
• Range: 0 ~ 100

rc_yaw_expo（Yaw Expo Value）

• Expo value for YAW axis in all stabilization modes (excluding MANUAL mode).
• Default value: 20
• Range: 0 ~ 100

rc_filter_auto（RC Filter Auto Setting）

• When enabled, INAV automatically sets RC filter based on refresh rate and smoothing factor.
• Default value: ON
• Range: OFF ~ ON

rc_filter_lpf_hz（RC Filter Cutoff Frequency）

• Biquad low-pass filter cutoff frequency for RC signals. Lower values result in smoother but more delayed response. Set to 0 to disable filtering.
• Default value: 50
• Range: 15 ~ 250

rc_filter_smoothing_factor（RC Smoothing Factor）

• Filter smoothing strength value. Higher values result in smoother but slower response.
• Default value: 30
• Range: 1 ~ 100

reboot_character（Reboot Trigger Character）

• Special character that triggers flight controller reboot.
• Default value: 82 (ASCII code "R")
• Range: 48 ~ 126

receiver_type（Receiver Type）

• Receiver type selection. SERIAL mode also requires configuring serialrx_provider and UART.
• Default value: target default

report_cell_voltage（Report Cell Voltage）

• When enabled, S.Port / IBUS telemetry reports individual cell voltage.
• Default value: OFF
• Range: OFF ~ ON

roll_rate（Maximum Roll Rotation Rate）

• Sets the maximum ROLL axis rotation rate, in units of deca-degrees/s (ten degrees per second).
• Default value: 20 (i.e., 200°/s)
• Range: 4 ~ 180

rpm_gyro_filter_enabled（Enable RPM Gyro Filter）

• Enables ESC RPM-based gyro filtering, which requires proper ESC telemetry operation.
• Default value: OFF
• Range: OFF ~ ON

rpm_gyro_harmonics（RPM Filter Harmonics Count）

• Number of harmonics covered by the filter. Usually 1 is sufficient.
• Default value: 1
• Range: 1 ~ 3

rpm_gyro_min_hz（RPM Filter Minimum Frequency）

• Minimum frequency for the RPM filter. Suitable for 5" drones set to 150Hz, can be reduced to 60Hz for larger models.
• Default value: 100
• Range: 30 ~ 200

rpm_gyro_q（RPM Filter Q Factor）

• Q factor controlling filter width and sharpness. Usually no modification needed.
• Default value: 500
• Range: 1 ~ 3000

rssi_adc_channel（RSSI Analog Channel）

• Specifies the ADC channel for analog RSSI input. 0 to disable.
• Default value: target default

rssi_channel（RSSI Signal Channel）

• Specifies the channel number for RSSI in the receiver.
• Default value: 0
• Range: 0 ~ MAX_SUPPORTED_RC_CHANNEL_COUNT

rssi_max（RSSI Maximum Value %）

• Sets the maximum RSSI percentage. For example, if max RSSI is only 83%, set to 83.
• Default value: 100

rssi_min（RSSI Minimum Value %）

• Sets the minimum RSSI percentage. Can be set higher than max to invert RSSI.
• Default value: 0

rssi_source（RSSI Source）

• Source method for RSSI data.
• Default value: AUTO
• Optional values: NONE / AUTO / ADC / CHANNEL / PROTOCOL / MSP

rth_energy_margin（Return-home Battery Margin %）

• Battery redundancy percentage for calculating return-home energy budget.
• Default value: 5
• Range: 0 ~ 100

rx_max_usec（Receiver Maximum Pulse Width）

• Limits the maximum valid pulse width for RC channel signals. Values beyond will be marked as invalid.
• Default value: 2115
• Range: PWM_PULSE_MIN ~ PWM_PULSE_MAX

rx_min_usec（Receiver Minimum Pulse Width）

• Limits the minimum valid pulse width for RC channel signals. Values below will be marked as invalid.
• Default value: 885
• Range: PWM_PULSE_MIN ~ PWM_PULSE_MAX

safehome_max_distance（Safehome Maximum Valid Distance）

• Safehome point must be within a certain range of the unlock point to be valid, in units of cm.
• Default value: 20000
• Range: 0 ~ 65000

safehome_usage_mode（Safehome Usage Mode）

• Sets when to enable Safehome point: OFF=disabled, RTH=RTH only, RTH_FS=RTH and Failsafe.
• Default value: RTH
• Optional values: OFF / RTH / RTH_FS

sbus_sync_interval（SBUS Sync Interval）

• SBUS synchronization period, in microseconds (us). Some receivers are incompatible with low settings.
• Default value: 3000
• Range: 500 ~ 10000

sdcard_detect_inverted（SD Card Reverse Detection）

Controls the detection logic direction for the SD card slot. Different flight controller boards may require different settings (e.g., AnyFC F7 clone boards).
Default value: target default

serialrx_halfduplex（Serial Receiver Half-Duplex）

Allows serial receiver to work on UART TX pin, some receivers can handle RC and telemetry through a single wire.
Default value: AUTO

serialrx_inverted（Serial Receiver Inverted）

Controls serial inversion logic. OFF means protocol default (e.g., SBUS is inverted by default), compatible with non-inverted SBUS (e.g., some OpenLRS or modified receivers).
Default value: OFF
Value range: OFF ~ ON

serialrx_provider（Serial Receiver Protocol）

When SERIALRX feature is enabled, specifies the serial receiver protocol type.
Default value: target default

servo_autotrim_rotation_limit（Auto-Trim Rotation Threshold）

Only updates servo center point when aircraft attitude angular velocity is less than this value (°/s). Only effective when FW_AUTOTRIM feature is enabled.
Default value: 15
Value range: 1 ~ 60

servo_center_pulse（Servo Center Pulse Width）

Servo center point PWM value, in microseconds (us).
Default value: 1500
Value range: PWM_RANGE_MIN ~ PWM_RANGE_MAX

servo_lpf_hz（Servo Output Low-Pass Filter）

Sets the cutoff frequency for servo PWM output signal, in Hz.
Default value: 20
Value range: 0 ~ 400

servo_protocol（Servo Output Protocol）

Sets the servo output protocol. Options: PWM (direct output), SBUS (output via serial).
Default value: PWM

servo_pwm_rate（Servo Output Frequency）

Sets the servo PWM output frequency, in Hz. High-performance digital servos can use higher frequencies.
Default value: 50
Value range: 50 ~ 498

setpoint_kalman_enabled（Enable Kalman Filter）

Whether to enable Kalman filtering for gyroscope data.
Default value: ON
Value range: OFF ~ ON

setpoint_kalman_q（Kalman Filter Q Value）

Quality factor of the Kalman filter. Higher values result in weaker filtering but lower latency. Suitable for clean 3~7 inch frames.
Default value: 100
Value range: 1 ~ 1000

sim_ground_station_number（SIM Module Binding Number）

Sets the phone number allowed to communicate with the SIM module, other numbers will be ignored. Can be set via SMS.
Default value: empty

sim_low_altitude（SIM Module Low Altitude Threshold）

When flight altitude is below this value, the SIM module sends a low altitude alert (requires enabling the corresponding bit in sim_transmit_flags).
Default value: -32767
Value range: -32768 ~ 32767

sim_pin（SIM Module PIN Code）

Sets the PIN unlock code for the SIM card.
Default value: 0000

sim_transmit_flags（SMS Transmission Conditions）

Sets SMS transmission trigger conditions (bitmask): 1: Continuous transmission 2: Continuous transmission only in Failsafe mode 4: Send when GPS signal is poor 8: Send when acceleration event occurs 16: Send when below sim_low_altitude
Default value: SIM_TX_FLAG_FAILSAFE

sim_transmit_interval（SMS Transmission Interval）

Sets the SMS transmission interval for the SIM module, in seconds. Minimum value is 10.
Default value: 60
Value range: SIM_MIN_TRANSMIT_INTERVAL ~ 65535

small_angle（Max Tilt Angle for Arming）

Refuses to arm when aircraft attitude angle exceeds this value.
Default value: 25
Value range: 0 ~ 180

smartport_fuel_unit（SmartPort Fuel Unit）

Sets the battery reporting unit via S.Port (only for FrSky).
Default value: MAH
Options: PERCENT / MAH / MWH

smartport_master_halfduplex（SmartPort Half-Duplex Master）

Controls whether S.Port uses half-duplex communication (busy sending), suitable for some receiver configurations.
Default value: ON
Value range: OFF ~ ON

smartport_master_inverted（SmartPort Signal Inversion）

Sets signal inversion for S.Port master, to adapt to different hardware.
Default value: OFF
Value range: OFF ~ ON

smith_predictor_delay（Smith Predictor Expected Delay）

Sets the expected delay for gyroscope signals in the Smith predictor, in ms.
Default value: 0
Value range: 0 ~ 8

smith_predictor_lpf_hz（Smith Low-Pass Filter Frequency）

Sets the low-pass filter cutoff frequency used by the Smith predictor, in Hz.
Default value: 50
Value range: 1 ~ 500

smith_predictor_strength（Smith Filter Strength）

Sets the strength of the Smith predictor, as a percentage (0~1).
Default value: 0.5
Value range: 0 ~ 1

spektrum_sat_bind（Spektrum Satellite Receiver Binding）

Sets the binding mode for Spektrum satellite receivers. 0 means disabled.
Default value: SPEKTRUM_SAT_BIND_DISABLED
Value range: SPEKTRUM_SAT_BIND_DISABLED ~ SPEKTRUM_SAT_BIND_MAX

srxl2_baud_fast（SRXL2 High-Speed Baud Rate）

For SRXL2 receiver protocol: enables high-speed communication (requires hardware support).
Default value: ON

srxl2_unit_id（SRXL2 Device ID）

Sets the device ID for the SRXL2 receiver module.
Default value: 1
Value range: 0 ~ 15

stats（Enable Flight Statistics）

When enabled, the flight controller records flight time, distance, and energy consumption data after each arm.
Default value: OFF

stats_total_dist（Total Flight Distance）

When statistics are enabled, updates the cumulative flight distance on each arm, in meters.
Default value: 0
Value range: 0 ~ 2147483647
Value range: OFF ~ ON
Value range: OFF ~ ON

stats_total_energy（Total Energy Consumption）

When statistics are enabled, updates the cumulative energy consumption on each arm, in mWh.
Default value: 0
Value range: 0 ~ 2147483647

stats_total_time（Total Flight Time）

When statistics are enabled, updates the cumulative flight time on each arm, in seconds.
Default value: 0
Value range: 0 ~ 2147483647

switch_disarm_delay（Switch Arming Delay）

Delay time when using a switch for arming, in milliseconds.
Default value: 250
Value range: 0 ~ 1000

tailsitter_orientation_offset（Tailsitter Sensor Offset）

Adds 90° pitch attitude offset for tailsitter flight mode.
Default value: OFF
Value range: OFF ~ ON

telemetry_halfduplex（Telemetry Half-Duplex）

When enabled, S.Port uses half-duplex communication (mainly for F1 and F4 flight controllers).
Default value: ON
Value range: OFF ~ ON

telemetry_inverted（Telemetry Signal Inverted）

Whether to invert telemetry signal. Should be set to OFF in most cases, unless using special receivers.
Default value: OFF
Value range: OFF ~ ON

telemetry_switch（Telemetry Switch Channel）

Specifies the AUX channel used to switch serial output and baud rate (e.g., MSP / telemetry). When enabled, automatic switching to telemetry output is prohibited.
Default value: OFF
Value range: OFF ~ ON

thr_comp_weight（Throttle Voltage Compensation Weight）

Throttle compensation coefficient based on battery voltage.
Default value: 1
Value range: 0 ~ 2

thr_expo（Throttle Expo）

Expo value for throttle output, used to smooth the throttle curve.
Default value: 0
Value range: 0 ~ 100

thr_mid（Throttle Mid Point）

Output value corresponding to the throttle stick center point, used for calculating the throttle curve.
Default value: 50
Value range: 0 ~ 100

throttle_idle（Minimum Throttle Percentage）

Sets the minimum throttle value as a percentage above min_command.
Default value: 8
Value range: 0 ~ 30

throttle_scale（Throttle Scale）

Sets the overall throttle scaling ratio. 1.0 means no scaling, 0.5 means scaling to 50%.
Default value: 1.0
Range: 0 ~ 1

throttle_tilt_comp_str（Attitude Compensation Throttle Gain）

In ANGLE or HORIZON mode, the flight controller automatically increases throttle output based on tilt angle. Unit: %
Default value: 0
Range: 0 ~ 100

tpa_breakpoint（TPA Breakpoint）

Specifies the throttle point at which TPA (Throttle PID Attenuation) attenuation begins, in us (PWM).
Default value: 1500
Range: PWM_RANGE_MIN ~ PWM_RANGE_MAX

tpa_on_yaw（TPA on YAW）

When enabled, TPA also affects the PID of the YAW channel (suitable for multi-rotors and tilt platforms).
Default value: OFF
Range: OFF ~ ON

tpa_rate（TPA Rate）

Throttle PID attenuation ratio. For every 1% above the breakpoint, the P term is reduced by this ratio.
Default value: 0
Range: 0 ~ 100

tri_unarmed_servo（Tricopter Unarmed Servo Operation）

Only applicable to tricopter models. When set to ON, the servo will make corrections even when unarmed.
Default value: ON
Range: OFF ~ ON

turtle_mode_power_factor（Turtle Mode Power Factor）

Controls the motor power output ratio in Turtle Mode.
Default value: 55
Range: 0 ~ 100

tz_automatic_dst（Automatic DST Setting）

Whether to automatically add daylight saving time to GPS time, only supported in EU and US. For other regions, manually setting tz_offset is recommended.
Default value: OFF

tz_offset（Timezone Offset）

Sets the time difference from UTC (in minutes), used for log timestamps (e.g., Blackbox).
Default value: 0
Range: -720 ~ 840

vbat_adc_channel（VBAT ADC Channel）

ADC channel used for battery voltage monitoring, defaults to onboard VBAT channel, 0 means disabled.
Default value: target default

vbat_cell_detect_voltage（Battery Cell Detection Voltage）

Maximum voltage per cell for automatic cell count detection, unit: 0.01V.
Default value: 425
Range: 100 ~ 500

vbat_meter_type（Voltage Meter Type）

Voltage reading method, options: ADC (analog), ESC (requires telemetry).
Default value: ADC

vbat_min_cell_voltage（Minimum Cell Voltage）

Triggers low voltage warning when voltage drops below this value, unit: 0.01V (default 3.30V).
Default value: 330

vbat_scale（Voltage Scaling Factor）

Battery voltage calibration coefficient (default 1100 = 11:1 voltage divider ratio × 100), can be fine-tuned according to multimeter readings.
Default value: target default

vbat_warning_cell_voltage（Warning Cell Voltage）

Triggers warning when voltage drops below this value, unit: 0.01V (default 3.50V).
Default value: 350

vtx_band（VTX Band）

Sets VTX band: 1=A, 2=B, 3=E, 4=F, 5=Race.
Default value: 1

vtx_channel（VTX Channel）

Sets the channel number within the current band (1-8).
Default value: 1

vtx_frequency_group（VTX Frequency Group）

VTX frequency group, default 5.8GHz (can also be set to 2.4GHz / 1.3GHz).
Default value: FREQUENCYGROUP_5G8

vtx_halfduplex（VTX Half-Duplex Communication）

Whether to use only the TX pin to communicate with the VTX.
Default value: ON

vtx_low_power_disarm（VTX Low Power When Disarmed）

Sets VTX to minimum power when disarmed. UNTIL_FIRST_ARM means it only takes effect before the first arm.
Default value: OFF

vtx_max_power_override（VTX Max Power Override）

Some VTXs incorrectly report maximum power, use this parameter to manually set the maximum value (0=disabled).
Default value: 0
Range: 0 ~ 10000

vtx_pit_mode_chan（Pit Mode Channel）

Sets the Pit mode channel.
Default value: 1

vtx_power（VTX Power Level）

Sets the RF transmission power level of the VTX (depends on hardware).
Default value: 1

vtx_smartaudio_alternate_softserial_method（SmartAudio Legacy Softserial Method）

Enables the softserial communication method used in INAV 3.0 and earlier versions.
Default value: ON

vtx_smartaudio_early_akk_workaround（Early AKK SmartAudio Compatibility Fix）

Fixes compatibility issues with early AKK SmartAudio VTXs.
Default value: ON

vtx_smartaudio_stopbits（SmartAudio Stop Bits）

Sets the SmartAudio serial stop bits (TBS Sixty9 requires setting to 1).
Default value: 2
Range: 1 ~ 2

vtx_softserial_shortstop（Softserial Short Stop Bits）

Enables 3x short stop bits suitable for some Tramp VTXs.
Default value: OFF

yaw_deadband（Yaw Deadband）

Sets the deadband range for the yaw channel (in us), preventing misinterpretation of signal jitter when the stick is stationary.
Default value: 2
Range: 0 ~ 100

yaw_lpf_hz（Yaw P Term Low Pass Filter）

Sets the YAW axis P term low pass filter frequency, small multi-rotors are recommended to set to 0 (disabled).
Default value: 0
Range: 0 ~ 200

yaw_rate（Yaw Rate）

Sets the maximum rotation speed of the yaw axis, in deca-degrees/s (10 degrees per second).
Default value: 20 (i.e., 200°/s)
Range: 1 ~ 180

Important

For more CLI parameter descriptions, please refer to: https://docs.corewing.com/plane/other/inav/cli-vars-1.html
https://docs.corewing.com/plane/other/inav/cli-vars-2.html

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