iNav CLI variables

Cleanflight CLI variables related to navigation features

General/Shared Variables

Variable	Description/Units	Min	Max
align_mag	When using an external magnetometer sensor this should be set to actual sensor alignment relative to board. Values: DEFAULT, CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP
align_board_roll	Board alignment on ROLL axis (deg * 10)	-1800	3600
align_board_pitch	Board alignment on PITCH axis (deg * 10)	-1800	3600
align_board_yaw	Board alignment on YAW axis (deg * 10)	-1800	3600
gps_provider	GPS hardware type: NMEA, UBLOX, NAZA, I2C-NAV
gps_nav_model	GPS navigation model: LOW_G (Pedestrian), HIGH_G (Airborne<4G). Currently supported only of Ublox GPS modules. HIGH_G may increase accuracy, especially on fast and agile airplanes, but it requires much better satellite signal quality. Safe default is "LOW_G".
gps_dyn_model	same as gps_nav_model, used in recent firmware. Default is AIR_1G.
gps_auto_config	If set to ON, iNav configures the GPS automatically
gps_auto_baud	If set to ON, iNav configures the baudrate of the GPS automatically
failsafe_procedure	Failsafe type: SET-THR - set throttle to failsafe_throttle, RTH - execute RTH sequence if possible, land otherwise
max_angle_inclination_rll	Maximum inclination in level mode (ROLL axis)	100	900
max_angle_inclination_pit	Maximum inclination in level mode (PITCH axis)	100	900
inav_accz_unarmedcal	Controls if inertial position estimator should compute gravity offset on accelerometer Z-axis dynamically when drone is unarmed. Mostly affects accuracy of altitude estimation and althold performace. No real reason to disable this feature.	OFF	ON
inav_use_gps_velned	Defined if iNav should use velocity data provided by GPS module for doing position and speed estimation. If set to OFF iNav will fallback to calculating velocity from GPS coordinates. Using native velocity data may improve performance on some GPS modules. Some GPS modules introduce significant delay and using native velocity may actually result in much worse performance. Safe default is "OFF"	OFF	ON
inav_gps_delay	GPS position and velocity data usually arrive with a delay. This parameter defines this delay. Default should be reasonable for most GPS receivers.	0	500
inav_gps_min_sats	Minimum number of GPS satellites in view to consider GPS position valid. Some GPS receivers appeared to be very inaccurate with low satellite count.	5	10
inav_w_z_baro_p		0	10
inav_w_z_gps_p		0	10
inav_w_z_gps_v		0	10
inav_w_xy_gps_p		0	10
inav_w_xy_gps_v		0	10
inav_w_xy_dr_v		0	10
inav_w_z_res_v		0	10
inav_w_xy_res_v		0	10
inav_w_acc_bias		0	1
inav_max_eph_epv		0	9999
inav_baro_epv		0	9999
nav_alt_p	P gain of altitude PID controller
nav_alt_i	I gain of altitude PID controller
nav_alt_d	D gain of altitude PID controller
nav_vel_p	P gain of velocity PID controller
nav_vel_i	I gain of velocity PID controller
nav_vel_d	D gain of velocity PID controller
nav_navr_p	P gain of 2D trajectory PID controller. Play with this to get a straigh line between waypoints or a straight RTH
nav_navr_i	I gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tunning with zero
nav_navr_d	D gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tunning with zero
nav_use_midrc_for_althold		OFF	ON
nav_use_midthr_for_althold		OFF	ON
nav_disarm_on_landing	If set to ON, iNav disarms the FC after landing	OFF	ON
nav_extra_arming_safety	If set to ON drone won't arm if no GPS fix	OFF	ON
nav_user_control_mode	Defines how Pitch/Roll input from RC receiver affects flight in POSHOLD mode: ATTI - right stick controls attitude like in ANGLE mode; CRUISE - right stick controls velocity in forward and right direction.
nav_position_timeout	If GPS fails wait for this much seconds before switching to emergency landing mode (0 - disable)	0	10
nav_wp_radius	Waypoint radius. Waypoint would be considered reached if machine is within this radius	10	2000
nav_max_speed	Maximum velocity firmware is allowed in full auto modes (POSHOLD, RTH, WP)	10	2000
nav_manual_speed	Maximum velocity firmware is allowed when processing pilot input for POSHOLD/CRUISE control mode
nav_manual_climb_rate	Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode
nav_pos_hold_deadband		10	250
nav_alt_hold_deadband		10	250
nav_min_rth_distance	Minimum distance from homepoint when RTH can be activated
nav_rth_alt_mode	Altitude control mode: CURRENT, EXTRA, FIXED, MAX, AT_LEAST
nav_rth_altitude	Used in EXTRA, FIXED and AT_LEAST rth alt modes
gyro_soft_lpf_hz	Software-based filter to remove mechanical vibrations from the gyro signal. Value is cutoff frequency (Hz). For larger frames with bigger props set to lower value. Default 60Hz	0	200
acc_soft_lpf_hz	Software-based filter to remove mechanical vibrations from the accelerometer measurements. Value is cutoff frequency (Hz). For larger frames with bigger props set to lower value. Default 15Hz	0	200
baro_use_median_filter
magzero_x
magzero_y
magzero_z
acczero_x	Calculated value after '6 position avanced calibration'. See Wiki page.
acczero_y	Calculated value after '6 position avanced calibration'. See Wiki page.
acczero_z	Calculated value after '6 position avanced calibration'. See Wiki page.
accgain_x	Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.
accgain_y	Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.
accgain_z	Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page.

Multirotor

Variable	Description/Units	Min	Max
nav_mc_bank_angle	Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude	15	45
nav_mc_hover_thr	Multicopter hover throttle hint for altitude controller. Should be set to approximate throttle value when drone is hovering.	1000	2000
nav_mc_min_fly_thr	Max throttle value treated as one of the conditions for landing detection. Must be sufficiently low to guarantee the "not flying" state even with full battery, but high enough for Altitude Hold controller to reach it.	1000	2000
throttle_tilt_comp_str	Can be used in ANGLE and HORIZON mode and will automatically boost throttle when banking. Setting is in percentage, 0=disabled.	0	100
nav_pos_p	Controls how fast the drone will fly towards the target position. This is a multiplier to convert displacement to target velocity
nav_pos_i	Controls deceleration time. Measured in 1/100 sec. Expected hold position is placed at a distance calculated as decelerationTime * currentVelocity
nav_pos_d
nav_posr_p	P gain of Position-Rate (Velocity to Acceleration) PID controller. Higher P means stronger response when position error occurs. Too much P might cause "nervous" behavior and oscillations	0	255
nav_posr_i	I gain of Position-Rate (Velocity to Acceleration) PID controller. Used for drift compensation (caused by wind for example). Higher I means stronger response to drift. Too much I gain might cause target overshot	0	255
nav_posr_d	D gain of Position-Rate (Velocity to Acceleration) PID controller. It can damp P and I. Increasing D might help when drone overshoots target.	0	255

Fixed-Wing

Variable	Description/Units	Min	Max
nav_fw_cruise_thr	Cruise throttle in GPS assisted modes
nav_fw_min_thr	Minimum throttle for flying wing in GPS assisted modes
nav_fw_max_thr	Maximum throttle for flying wing in GPS assisted modes
nav_fw_bank_angle	The maximum angle in roll axis in GPS assisted modes
nav_fw_climb_angle	Max pitch angle when climbing in GPS assisted modes
nav_fw_dive_angle	Max negative pitch angle when diving in GPS assisted modes
nav_fw_pitch2thr	Amount of throttle applied related to pitch attitude in GPS assisted modes
nav_fw_roll2pitch	Amount of positive pitch (nose up) when the plane turns by ailerons in GPS assisted modes. With high wind is better lowering this
nav_fw_loiter_radius	PosHold radius in cm. 3000 to 7500 is a good value (30-75m)