Version: Next

CLI Reference

The Rotorflight Command Line Interface (CLI) gives direct access to the flight controller's configuration and diagnostic functions. It is available through the CLI tab in Rotorflight Configurator, or via any serial terminal connected to a UART configured for MSP.

Accessing the CLI

Via Configurator: Click the CLI tab in the left-hand navigation. The CLI is ready immediately — no special activation is needed.

Via serial terminal: Connect to the UART at the configured baud rate (default 115200) and send a # character to activate the CLI.

Basic Usage

Key / Command	Action
`help`	List all available commands
`help <search>`	Search commands by name or description
`<Tab>`	Auto-complete command or argument
`save`	Save settings to EEPROM and reboot
`exit`	Exit CLI without saving (or power cycle)

Lines beginning with # are treated as comments and ignored.

Configuration Management

`diff`

Lists all settings that differ from the firmware defaults. This is the recommended way to produce a backup because the output is compact and portable.

diff [master|profile|rates|hardware|all] {defaults|bare}

Sub-option	Effect
(none)	Current PID and rate profile only
`all`	All profiles
`master`	Global (non-profile) settings
`profile`	Current PID profile
`rates`	Current rate profile
`hardware`	Hardware-level settings (pin assignments, etc.)
`defaults`	Include values that match defaults
`bare`	Omit `#` comment headers — useful for scripting

# Recommended backup command
diff all

`dump`

Outputs every setting and its current value. The output is much larger than diff but is fully self-contained.

dump [master|profile|rates|hardware|all] {defaults|bare}

The sub-options are identical to those for diff.

`defaults`

Resets all settings back to firmware defaults and reboots.

defaults {show} {nosave} {bare} {group_id <id>}

Option	Effect
(none)	Reset to defaults and save/reboot
`nosave`	Reset in RAM only — do not save or reboot
`show`	Print the custom-defaults block without applying it
`bare`	Apply firmware defaults, ignoring any custom-defaults block
`group_id <id>`	Reset only the parameter group with this ID

`save`

Writes the current in-RAM configuration to EEPROM and reboots.

save

`batch`

Groups multiple commands so that they are applied atomically. If any command inside the batch fails the batch is rolled back.

batch start
<commands>
batch end

Profile Management

`profile`

Shows the active PID profile, or switches to a different one. Profiles are zero-indexed (0–2).

profile          # show current profile index
profile <index>  # switch to profile 0, 1, or 2

`rateprofile`

Shows the active rate profile, or switches to a different one. Rate profiles are zero-indexed (0–5).

rateprofile          # show current rate profile index
rateprofile <index>  # switch to rate profile 0–5

Helicopter Configuration Commands

These commands are specific to Rotorflight helicopter configuration.

`mixer`

Configures the software mixer that routes stabilised flight controller outputs to physical servos and motors.

mixer status
mixer reset

mixer input
mixer input reset
mixer input <input> <min> <max> <rate>

mixer limit
mixer limit <input> <min> <max>

mixer rate
mixer rate <input> <rate>

mixer rule
mixer rule reset
mixer rule <index> [set|add|mul] <input> <output> <weight> <offset> [<modes>]
mixer rule <index> del

mixer override
mixer override off
mixer override <value>
mixer override <input> <value>|off

Mixer input names:

Name	Source
`SR` `SP` `SY` `SC` `ST`	Stabilised Roll / Pitch / Yaw / Collective / Throttle
`CR` `CP` `CY` `CC` `CT`	RC Command Roll / Pitch / Yaw / Collective / Throttle
`RR` `RP` `RY` `RC` `RT`	Raw RC Channel Roll / Pitch / Yaw / Collective / Throttle
`AUX1` `AUX2` `AUX3`	Auxiliary RC channels
`CH9`–`CH18`	RC channels 9–18

Mixer output names: S1–S26 (servos), M1–M4 (motors)

Mixer rule operations: set, add, mul

`servo`

Configures servo parameters and allows real-time override for testing.

servo status
servo flags
servo flags <servo> <[+|-]FLAG> ...

servo <servo> <center> <min> <max> <-scale> <+scale> <update_rate> <speed> <flags>

servo override
servo override <value>|off
servo override <servo> <value>|off

<servo> is 1-based.
Center, min, and max are in microseconds (typical: 1500, 1000, 2000).
-scale and +scale are percentages (0–200).
update_rate is in Hz.
speed is in µs/second (0 = unlimited).

Servo flags:

Flag	Effect
`REV`	Reverse servo direction
`GEO`	Apply geometric (trigonometric) correction

Use +FLAG to set a flag, -FLAG to clear it:

servo flags 1 +REV -GEO

Override range: 500–2500 µs; off to release override.

`motor`

Shows motor status and allows real-time throttle override for testing.

danger

Motor override commands spin the motor. Remove all propellers/blades before use.

motor status

motor override
motor override off
motor override <index> <value>|off

<index> is 1-based; use 0 or all to set all motors simultaneously.
<value> range: 1000–2000 (standard ESC range).
off releases the override and returns to normal control.

Get / Set Variables

`set`

Changes a configuration variable.

set                  # list all variables and current values
set <name>=<value>   # set a specific variable

`get`

Reads the current value of one or more variables. Partial name matching is supported — get gov will show all governor-related variables.

get              # list all variables with values and ranges
get <name>       # show a specific variable (partial name match supported)

Parameter reference

The table below lists all settable parameters, grouped by function. Parameters marked [profile] are per-PID-profile; those marked [rates] are per-rate-profile. All others are global (master) settings.

Use get <prefix> in the CLI to quickly filter a group — for example get gov_ shows all governor parameters.

Gyro

Parameter	Range / Values	Description
`gyro_hardware_lpf`	`NORMAL` `OPTION_1` `OPTION_2`	Hardware low-pass filter setting
`gyro_rate_sync`	`OFF` `ON`	Sync gyro sample rate to PID loop
`gyro_calib_duration`	50–3000	Gyro calibration duration (ms × 10)
`gyro_calib_noise_limit`	0–200	Movement threshold that halts calibration
`gyro_decimation_hz`	0–max	Gyro sample decimation frequency (Hz)
`gyro_lpf1_type`	`NONE` `PT1` `PT2` `PT3` `BUTTER` `BESSEL` …	First gyro LPF filter type
`gyro_lpf1_static_hz`	0–max	First gyro LPF cutoff (Hz)
`gyro_lpf1_dyn_min_hz`	0–max	First gyro dynamic LPF minimum (Hz)
`gyro_lpf1_dyn_max_hz`	0–max	First gyro dynamic LPF maximum (Hz)
`gyro_lpf2_type`	(same as lpf1)	Second gyro LPF filter type
`gyro_lpf2_static_hz`	0–max	Second gyro LPF cutoff (Hz)
`gyro_notch1_hz`	0–max	Static notch filter 1 centre (Hz)
`gyro_notch1_cutoff`	0–max	Static notch filter 1 cutoff (Hz)
`gyro_notch2_hz`	0–max	Static notch filter 2 centre (Hz)
`gyro_notch2_cutoff`	0–max	Static notch filter 2 cutoff (Hz)
`gyro_overflow_detect`	`OFF` `YAW` `ALL`	Gyro overflow detection axis
`dyn_notch_count`	0–max	Number of dynamic notch filters
`dyn_notch_q`	10–100	Dynamic notch Q factor
`dyn_notch_min_hz`	10–200	Dynamic notch minimum frequency (Hz)
`dyn_notch_max_hz`	100–500	Dynamic notch maximum frequency (Hz)
`gyro_1_sensor_align`	`DEFAULT` `CW0` `CW90` `CW180` `CW270` …	Physical orientation of gyro 1
`gyro_1_align_roll`	-3600–3600	Custom roll alignment (tenths of degrees)
`gyro_1_align_pitch`	-3600–3600	Custom pitch alignment
`gyro_1_align_yaw`	-3600–3600	Custom yaw alignment

Accelerometer

Parameter	Range / Values	Description
`acc_hardware`	`AUTO` `NONE` `ADXL345` `MPU6050` …	Accelerometer selection
`acc_lpf_hz`	0–400	Accelerometer LPF cutoff (Hz)
`acc_trim_pitch`	-300–300	Pitch trim offset (centidegrees)
`acc_trim_roll`	-300–300	Roll trim offset (centidegrees)
`acc_calibration`	array[4]	Accelerometer zero offsets + calibrated flag

Board Alignment

Parameter	Range / Values	Description
`align_board_roll`	-180–360	Board roll offset (degrees)
`align_board_pitch`	-180–360	Board pitch offset (degrees)
`align_board_yaw`	-180–360	Board yaw offset (degrees)

Motor

Parameter	Range / Values	Description
`motor_pwm_protocol`	`PWM` `ONESHOT125` `DSHOT150` `DSHOT300` `DSHOT600` `CASTLE` `DISABLED` …	ESC signal protocol
`motor_pwm_rate`	50–8000	PWM output rate (Hz) — not used with DShot
`min_throttle`	1000–2000	Minimum armed throttle command (µs)
`max_throttle`	1000–2000	Maximum throttle command (µs)
`min_command`	1000–2000	Disarmed/off throttle command (µs)
`use_unsynced_pwm`	`OFF` `ON`	Allow PWM rate independent of loop rate
`dshot_bidir`	`OFF` `ON`	Enable bidirectional DShot (required for RPM telemetry)
`dshot_burst`	`OFF` `ON` `AUTO`	DShot burst mode
`dshot_bitbang`	`OFF` `ON` `AUTO`	Use bit-bang DShot implementation
`motor_poles`	array[4]	Pole count for each motor (for RPM calculation)
`motor_rpm_lpf`	array[4]	LPF cutoff for each motor's RPM signal
`motor_rpm_factor`	array[4]	RPM correction factor (signed, ×1000)
`main_rotor_gear_ratio`	array[2]	Main rotor gear ratio as numerator/denominator
`tail_rotor_gear_ratio`	array[2]	Tail rotor gear ratio as numerator/denominator

Mixer (Swash)

Parameter	Range / Values	Description
`main_rotor_dir`	`CW` `CCW`	Main rotor rotation direction
`tail_rotor_mode`	`VARIABLE` `MOTORIZED` `BIDIRECTIONAL`	Tail rotor type
`tail_motor_idle`	0–250	Idle throttle for tail motor (motorised tail)
`tail_center_trim`	-1000–1000	Centre trim for tail servo
`swash_type`	`NONE` `PASSTHROUGH` `CP120` `CP135` `CP140` `FP90L` `FP90V`	Swashplate geometry
`swash_ring`	0–100	Cyclic ring limit (%)
`swash_phase`	-1800–1800	Swash phase angle (tenths of degrees)
`swash_roll_trim`	-1000–1000	Roll trim applied at swash
`swash_pitch_trim`	-1000–1000	Pitch trim applied at swash
`swash_collective_trim`	-1000–1000	Collective trim applied at swash
`swash_pitch_limit`	0–3000	Maximum swash pitch travel
`swash_tta_precomp`	0–250	Throttle-to-angle precompensation
`swash_geo_correction`	-125–125	Geometric (sine) correction strength
`collective_tilt_correction_pos`	-100–100	Collective-to-pitch coupling correction (positive collective)
`collective_tilt_correction_neg`	-100–100	Collective-to-pitch coupling correction (negative collective)

Governor (Global)

Parameter	Range / Values	Description
`gov_mode`	`OFF` `LIMIT` `DIRECT` `ELECTRIC` `NITRO`	Governor operating mode
`gov_throttle_type`	`NORMAL` `SWITCH` `FUNCTION`	Throttle input interpretation
`gov_startup_time`	0–600	Motor startup time (tenths of seconds)
`gov_spoolup_time`	0–600	Spool-up ramp time (tenths of seconds)
`gov_tracking_time`	0–600	Time to reach target headspeed after spoolup
`gov_recovery_time`	0–600	Recovery ramp time after a dip
`gov_spooldown_time`	0–600	Spooldown ramp time (tenths of seconds)
`gov_throttle_hold_timeout`	0–250	Timeout before autorotation mode exits
`gov_autorotation_timeout`	0–250	Autorotation entry hold timeout
`gov_handover_throttle`	10–100	Throttle level at which governor takes over (%)
`gov_idle_throttle`	0–250	Idle throttle in LIMIT mode
`gov_auto_throttle`	0–250	Automatic collective-follow throttle
`gov_bypass_throttle`	array[GOV_CURVE_POINTS]	Throttle curve for DIRECT/NITRO mode
`gov_pwr_filter`	0–250	Power input filter cutoff
`gov_rpm_filter`	0–250	RPM input filter cutoff
`gov_tta_filter`	0–250	Throttle-to-angle filter cutoff
`gov_ff_filter`	0–250	Feedforward filter cutoff
`gov_d_filter`	0–250	D-term filter cutoff

Governor (Per-Profile)

These are part of the PID profile and differ per profile.

Parameter	Range / Values	Description
`gov_headspeed`	0–50000	Target headspeed (RPM) [profile]
`gov_gain`	0–250	Overall governor gain [profile]
`gov_p_gain`	0–250	Proportional gain [profile]
`gov_i_gain`	0–250	Integral gain [profile]
`gov_d_gain`	0–250	Derivative gain [profile]
`gov_f_gain`	0–250	Feedforward gain [profile]
`gov_p_limit`	0–100	P-term output limit (%) [profile]
`gov_i_limit`	0–100	I-term output limit (%) [profile]
`gov_d_limit`	0–100	D-term output limit (%) [profile]
`gov_f_limit`	0–100	Feedforward output limit (%) [profile]
`gov_tta_gain`	0–250	Throttle-to-angle gain [profile]
`gov_tta_limit`	0–250	TTA output limit [profile]
`gov_yaw_ff_weight`	0–250	Yaw torque feedforward weight [profile]
`gov_cyclic_ff_weight`	0–250	Cyclic load feedforward weight [profile]
`gov_collective_ff_weight`	0–250	Collective load feedforward weight [profile]
`gov_max_throttle`	10–100	Maximum governor output throttle (%) [profile]
`gov_min_throttle`	10–100	Minimum governor output throttle (%) [profile]
`gov_fallback_drop`	0–50	Throttle reduction during RPM fallback [profile]
`gov_collective_curve`	5–40	Collective feedforward curve shape [profile]
`gov_dyn_min_throttle`	0–100	Dynamic minimum throttle level [profile]
`gov_use_fallback_precomp`	`OFF` `ON`	Enable fallback precompensation [profile]
`gov_use_pid_spoolup`	`OFF` `ON`	Use PID output during spoolup [profile]
`gov_use_voltage_comp`	`OFF` `ON`	Enable battery voltage compensation [profile]
`gov_use_dyn_min_throttle`	`OFF` `ON`	Enable dynamic minimum throttle [profile]

PID Gains (Per-Profile)

Parameter	Range / Values	Description
`pid_mode`	0–9	PID controller mode [profile]
`pitch_p_gain`	0–2000	Pitch P gain [profile]
`pitch_i_gain`	0–2000	Pitch I gain [profile]
`pitch_d_gain`	0–2000	Pitch D gain [profile]
`pitch_f_gain`	0–2000	Pitch feedforward gain [profile]
`pitch_b_gain`	0–2000	Pitch B-term (boost) gain [profile]
`pitch_o_gain`	0–2000	Pitch offset gain [profile]
`roll_p_gain`	0–2000	Roll P gain [profile]
`roll_i_gain`	0–2000	Roll I gain [profile]
`roll_d_gain`	0–2000	Roll D gain [profile]
`roll_f_gain`	0–2000	Roll feedforward gain [profile]
`roll_b_gain`	0–2000	Roll B-term (boost) gain [profile]
`roll_o_gain`	0–2000	Roll offset gain [profile]
`yaw_p_gain`	0–2000	Yaw P gain [profile]
`yaw_i_gain`	0–2000	Yaw I gain [profile]
`yaw_d_gain`	0–2000	Yaw D gain [profile]
`yaw_f_gain`	0–2000	Yaw feedforward gain [profile]
`yaw_b_gain`	0–2000	Yaw B-term (boost) gain [profile]
`pitch_d_cutoff`	0–250	Pitch D-term filter cutoff [profile]
`pitch_b_cutoff`	0–250	Pitch B-term filter cutoff [profile]
`pitch_gyro_cutoff`	0–250	Pitch gyro pre-filter cutoff [profile]
`roll_d_cutoff`	0–250	Roll D-term filter cutoff [profile]
`roll_b_cutoff`	0–250	Roll B-term filter cutoff [profile]
`roll_gyro_cutoff`	0–250	Roll gyro pre-filter cutoff [profile]
`yaw_d_cutoff`	0–250	Yaw D-term filter cutoff [profile]
`yaw_b_cutoff`	0–250	Yaw B-term filter cutoff [profile]
`yaw_gyro_cutoff`	0–250	Yaw gyro pre-filter cutoff [profile]
`yaw_cw_stop_gain`	25–250	Stop gain for clockwise yaw rotation [profile]
`yaw_ccw_stop_gain`	25–250	Stop gain for counter-clockwise yaw rotation [profile]
`yaw_precomp_cutoff`	0–250	Yaw precompensation filter cutoff [profile]
`yaw_cyclic_ff_gain`	0–250	Yaw cyclic feedforward gain [profile]
`yaw_collective_ff_gain`	0–250	Yaw collective feedforward gain [profile]
`yaw_inertia_precomp_gain`	0–250	Yaw inertia precompensation gain [profile]
`yaw_inertia_precomp_cutoff`	0–250	Yaw inertia precompensation cutoff [profile]
`pitch_collective_ff_gain`	0–250	Pitch collective feedforward gain [profile]
`cyclic_cross_coupling_gain`	0–250	Cyclic cross-coupling compensation gain [profile]
`cyclic_cross_coupling_ratio`	0–200	Roll-to-pitch coupling ratio [profile]
`cyclic_cross_coupling_cutoff`	1–250	Cross-coupling filter cutoff [profile]
`error_limit`	array[3]	Max error accumulation per axis (Roll/Pitch/Yaw) [profile]
`offset_limit`	array[2]	Max offset per axis (Roll/Pitch) [profile]
`error_decay_time_ground`	0–250	I-term decay speed on the ground [profile]
`error_decay_time_cyclic`	0–250	I-term decay speed in air (cyclic) [profile]
`error_decay_time_yaw`	0–250	I-term decay speed in air (yaw) [profile]
`error_decay_limit_cyclic`	0–250	I-term decay lower limit (cyclic) [profile]
`error_decay_limit_yaw`	0–250	I-term decay lower limit (yaw) [profile]
`iterm_relax_type`	`OFF` `RP` `RPY`	I-term relax axis selection [profile]
`iterm_relax_level`	array[3]	I-term relax level per axis [profile]
`iterm_relax_cutoff`	array[3]	I-term relax filter cutoff per axis [profile]
`offset_flood_relax_level`	10–250	Offset flood relaxation level [profile]
`offset_flood_relax_cutoff`	1–100	Offset flood relaxation filter cutoff [profile]
`pid_process_denom`	1–16	PID loop denominator (divides gyro rate)
`filter_process_denom`	0–16	Filter task denominator

Rescue Mode (Per-Profile)

Parameter	Range / Values	Description
`rescue_mode`	`OFF` `CLIMB` `ALT_HOLD`	Rescue mode type [profile]
`rescue_flip`	`OFF` `ON`	Enable auto-flip during rescue [profile]
`rescue_flip_gain`	5–250	Flip authority gain [profile]
`rescue_level_gain`	5–250	Levelling authority gain [profile]
`rescue_pull_up_time`	0–250	Pull-up phase duration (tenths of seconds) [profile]
`rescue_climb_time`	0–250	Climb phase duration [profile]
`rescue_flip_time`	0–250	Flip phase duration [profile]
`rescue_exit_time`	0–250	Exit/handback phase duration [profile]
`rescue_pull_up_collective`	0–1000	Collective during pull-up [profile]
`rescue_climb_collective`	0–1000	Collective during climb [profile]
`rescue_hover_collective`	0–1000	Collective at hover [profile]
`rescue_hover_altitude`	0–10000	Target hover altitude (cm) [profile]
`rescue_alt_p_gain`	0–10000	Altitude hold P gain [profile]
`rescue_alt_i_gain`	0–10000	Altitude hold I gain [profile]
`rescue_alt_d_gain`	0–10000	Altitude hold D gain [profile]
`rescue_max_sp_rate`	1–1000	Max setpoint rate during rescue [profile]
`rescue_max_sp_accel`	1–10000	Max setpoint acceleration during rescue [profile]
`rescue_max_collective`	1–1000	Max collective during rescue [profile]

Stability Modes (Per-Profile)

Parameter	Range / Values	Description
`angle_level_strength`	0–200	Self-level authority in Angle mode [profile]
`angle_level_limit`	10–90	Max tilt in Angle mode (degrees) [profile]
`horizon_level_strength`	0–200	Self-level authority in Horizon mode [profile]
`horizon_transition`	0–200	Stick range over which Horizon transitions [profile]
`horizon_tilt_effect`	0–250	Tilt suppression in Horizon mode [profile]
`horizon_tilt_expert_mode`	`OFF` `ON`	Expert tilt calculation mode [profile]

Rate Profile

Parameter	Range / Values	Description
`rateprofile_name`	string	Rate profile label [rates]
`rates_type`	`NONE` `BETAFLIGHT` `RACEFLIGHT` `KISS` `ACTUAL` `QUICK` `ROTORFLIGHT`	Rate algorithm [rates]
`roll_rc_rate`	1–255	Roll RC rate [rates]
`pitch_rc_rate`	1–255	Pitch RC rate [rates]
`yaw_rc_rate`	1–255	Yaw RC rate [rates]
`collective_rc_rate`	1–255	Collective RC rate [rates]
`roll_expo`	0–100	Roll expo [rates]
`pitch_expo`	0–100	Pitch expo [rates]
`yaw_expo`	0–100	Yaw expo [rates]
`collective_expo`	0–100	Collective expo [rates]
`roll_srate`	0–255	Roll super-rate [rates]
`pitch_srate`	0–255	Pitch super-rate [rates]
`yaw_srate`	0–255	Yaw super-rate [rates]
`collective_srate`	0–255	Collective super-rate [rates]
`roll_accel_limit`	0–50000	Roll acceleration limit (deg/s²) [rates]
`pitch_accel_limit`	0–50000	Pitch acceleration limit [rates]
`yaw_accel_limit`	0–50000	Yaw acceleration limit [rates]
`collective_accel_limit`	0–50000	Collective acceleration limit [rates]
`roll_response`	0–250	Roll response time filter [rates]
`pitch_response`	0–250	Pitch response time filter [rates]
`yaw_response`	0–250	Yaw response time filter [rates]
`collective_response`	0–250	Collective response time filter [rates]
`cyclic_ring`	0–250	Cyclic ring limit [rates]
`roll_level_expo`	0–100	Roll level-mode expo [rates]
`pitch_level_expo`	0–100	Pitch level-mode expo [rates]
`setpoint_boost_gain`	array[4]	Setpoint boost gain per axis [rates]
`setpoint_boost_cutoff`	array[4]	Setpoint boost cutoff per axis [rates]

RC Controls

Parameter	Range / Values	Description
`rc_center`	1200–1700	RC channel centre value (µs)
`rc_deflection`	250–750	RC channel half-deflection (µs)
`rc_min_throttle`	0–2100	RC throttle minimum (µs)
`rc_max_throttle`	0–2100	RC throttle maximum (µs)
`rc_smoothness`	0–250	RC input smoothing strength
`rc_threshold`	array[4]	Dead-zone threshold per axis
`deadband`	0–100	Cyclic stick deadband (µs)
`yaw_deadband`	0–100	Yaw stick deadband (µs)
`rx_pulse_min`	750–2250	Minimum valid RC pulse width (µs)
`rx_pulse_max`	750–2250	Maximum valid RC pulse width (µs)

Receiver

Parameter	Range / Values	Description
`serialrx_provider`	`SBUS` `CRSF` `FBUS` `IBUS` `SRXL2` `GHST` …	Serial RX protocol
`serialrx_inverted`	`OFF` `ON`	Invert serial RX signal
`serialrx_halfduplex`	`OFF` `ON`	Use half-duplex UART
`rssi_channel`	0–18	AUX channel carrying RSSI (0 = disabled)
`rssi_scale`	1–255	RSSI scale factor
`rssi_offset`	-100–100	RSSI offset
`rssi_invert`	`OFF` `ON`	Invert RSSI value
`sbus_baud_fast`	`OFF` `ON`	Use 200 kbps SBUS instead of 100 kbps
`crsf_use_rx_snr`	`OFF` `ON`	Use SNR for RSSI in CRSF
`crsf_telemetry_mode`	`NATIVE` `CUSTOM`	CRSF telemetry mode
`crsf_telemetry_link_rate`	0–50000	Custom CRSF telemetry link rate
`crsf_telemetry_link_ratio`	0–50000	Custom CRSF telemetry link ratio

Failsafe

Parameter	Range / Values	Description
`failsafe_delay`	1–200	Time before Stage 1 activates (tenths of seconds)
`failsafe_off_delay`	0–200	Time before Stage 2 activates after Stage 1
`failsafe_throttle`	900–2100	Throttle value during failsafe (µs)
`failsafe_switch_mode`	`STAGE1` `KILL` `STAGE2`	Behaviour when failsafe switch is used
`failsafe_throttle_low_delay`	0–300	Delay before allowing throttle-low arming after failsafe
`failsafe_procedure`	`AUTO-LAND` `DROP` `GPS-RESCUE`	Failsafe procedure
`failsafe_recovery_delay`	0–200	Hold time after signal returns before exit (tenths of s)
`failsafe_stick_threshold`	0–50	Stick movement threshold to confirm recovery

Battery & Voltage

Parameter	Range / Values	Description
`battery_cell_count`	0–24	Manual cell count override (0 = auto-detect)
`vbat_max_cell_voltage`	100–500	Maximum cell voltage (centivolts)
`vbat_full_cell_voltage`	100–500	Full cell voltage
`vbat_min_cell_voltage`	100–500	Minimum cell voltage (cutoff warning)
`vbat_warning_cell_voltage`	100–500	Warning cell voltage
`vbat_hysteresis`	0–250	Voltage alarm hysteresis
`vbat_detect_cell_voltage`	0–2000	Voltage below which battery is considered absent
`vbat_scale`	1–4095	ADC voltage divider scale
`vbat_divider`	1–255	ADC voltage divider value
`vbat_multiplier`	1–255	ADC voltage multiplier
`vbat_cutoff`	0–250	ADC reading cutoff filter
`vbec_scale` / `vbec_divider` / `vbec_multiplier`	—	BEC voltage ADC calibration
`vbus_scale` / `vbus_divider` / `vbus_multiplier`	—	Bus voltage ADC calibration
`vext_scale` / `vext_divider` / `vext_multiplier`	—	External voltage ADC calibration
`ibata_scale`	-16000–16000	Battery current sensor scale
`ibata_offset`	-32000–32000	Battery current sensor offset
`current_meter`	`NONE` `ADC` `ESC`	Current sensor source
`battery_meter`	`NONE` `ADC` `ESC`	Voltage sensor source
`bat_capacity`	array	Battery capacity per profile (mAh)
`vbat_lpf_hz`	0–255	Voltage LPF cutoff (Hz)
`ibat_lpf_hz`	0–255	Current LPF cutoff (Hz)
`use_vbat_alerts`	`OFF` `ON`	Enable voltage alerts
`use_cbat_alerts`	`OFF` `ON`	Enable capacity alerts
`cbat_alert_percent`	0–100	Capacity remaining alert threshold (%)
`vbat_cutoff_percent`	0–100	Cutoff warning at this % of cells

Arming

Parameter	Range / Values	Description
`auto_disarm_delay`	0–60	Auto-disarm after this many seconds on the ground (0 = off)
`gyro_cal_on_first_arm`	`OFF` `ON`	Calibrate gyro on first arm
`pwr_on_arm_grace`	0–30	Seconds after power-on in which arming is allowed without gyro check
`enable_stick_arming`	`OFF` `ON`	Enable stick-based arm/disarm
`enable_stick_commands`	`OFF` `ON`	Enable stick-combo commands
`wiggle_strength`	0–100	Swash wiggle amplitude (%)
`wiggle_frequency`	2–50	Swash wiggle frequency (Hz)
`wiggle_enable_ready`	`OFF` `ON`	Wiggle when ready to arm
`wiggle_enable_armed`	`OFF` `ON`	Wiggle on arm
`wiggle_enable_error`	`OFF` `ON`	Wiggle on arming error
`wiggle_enable_fatal`	`OFF` `ON`	Wiggle on fatal error

RPM Filter

Parameter	Range / Values	Description
`gyro_rpm_notch_preset`	0–3	RPM filter preset (0 = custom)
`gyro_rpm_notch_min_hz`	1–100	Minimum notch frequency (Hz)
`gyro_rpm_notch_source_pitch`	array	RPM source for each pitch notch
`gyro_rpm_notch_center_pitch`	array	Centre offset for each pitch notch
`gyro_rpm_notch_q_pitch`	array	Q factor for each pitch notch
`gyro_rpm_notch_source_roll`	array	RPM source for each roll notch
`gyro_rpm_notch_center_roll`	array	Centre offset for each roll notch
`gyro_rpm_notch_q_roll`	array	Q factor for each roll notch
`gyro_rpm_notch_source_yaw`	array	RPM source for each yaw notch
`gyro_rpm_notch_center_yaw`	array	Centre offset for each yaw notch
`gyro_rpm_notch_q_yaw`	array	Q factor for each yaw notch

ESC Sensor

Parameter	Range / Values	Description
`esc_sensor_protocol`	`OFF` `BLHELI32` `HOBBYWINGV4` `HOBBYWINGV5` `SCORPION` `KONTRONIK` `OMPHOBBY` `ZTW` `APD` `OPENYGE` `FLYROTOR` `GRAUPNER` `XDFLY` `FBUS` `RECORD`	ESC telemetry protocol
`esc_sensor_halfduplex`	`OFF` `ON`	Half-duplex UART mode
`esc_sensor_update_hz`	4–500	Polling rate (Hz)
`esc_sensor_current_offset`	0–16000	Current zero offset
`esc_sensor_filter_cutoff`	0–250	Output LPF cutoff
`esc_sensor_voltage_correction`	-100–125	Voltage scaling correction (%)
`esc_sensor_current_correction`	-100–125	Current scaling correction (%)
`esc_sensor_consumption_correction`	-100–125	Consumption scaling correction (%)

Blackbox

Parameter	Range / Values	Description
`blackbox_mode`	`OFF` `NORMAL` `ARMED` `SWITCH`	When to record
`blackbox_device`	`NONE` `SPIFLASH` `SDCARD` `SERIAL`	Storage device
`blackbox_rate_denom`	1–8000	Logging rate denominator (1 = full rate)
`blackbox_grace_period`	0–60	Seconds to log after disarm
`blackbox_log_command`	`OFF` `ON`	Log RC commands
`blackbox_log_setpoint`	`OFF` `ON`	Log setpoints
`blackbox_log_mixer`	`OFF` `ON`	Log mixer outputs
`blackbox_log_pid`	`OFF` `ON`	Log PID terms
`blackbox_log_gyro`	`OFF` `ON`	Log filtered gyro
`blackbox_log_gyro_raw`	`OFF` `ON`	Log raw gyro
`blackbox_log_attitude`	`OFF` `ON`	Log attitude (roll/pitch/yaw angles)
`blackbox_log_motors`	`OFF` `ON`	Log motor outputs
`blackbox_log_servos`	`OFF` `ON`	Log servo outputs
`blackbox_log_rpm`	`OFF` `ON`	Log RPM data
`blackbox_log_battery`	`OFF` `ON`	Log battery voltage and current
`blackbox_log_governor`	`OFF` `ON`	Log governor state
`blackbox_log_esc`	`OFF` `ON`	Log ESC telemetry
`blackbox_log_rssi`	`OFF` `ON`	Log RSSI

Telemetry

Parameter	Range / Values	Description
`tlm_inverted`	`OFF` `ON`	Invert telemetry signal
`tlm_halfduplex`	`OFF` `ON`	Half-duplex telemetry UART
`report_cell_voltage`	`OFF` `ON`	Report per-cell voltage via telemetry
`smartfuel`	`OFF` `ON`	Enable SmartFuel telemetry
`smartfuel_source`	`CURRENT` `VOLTAGE`	SmartFuel fuel-level source
`telemetry_sensors`	array	Sensor IDs to include in telemetry
`telemetry_interval`	array	Interval per sensor slot (ms)

FBUS Master / SBUS Output

Parameter	Range / Values	Description
`fbus_master_frame_rate`	25–550	FBUS master output rate (Hz)
`fbus_master_pinswap`	`OFF` `ON`	Swap TX/RX pins
`fbus_master_inverted`	`OFF` `ON`	Invert FBUS output
`fbus_master_telemetry_rate`	min–max	Telemetry polling rate (Hz)
`fbus_master_discovery_ms`	min–max	Sensor discovery window (ms)
`fbus_master_forwarded_sensors`	array	Sensor IDs to forward
`sbus_out_frame_rate`	25–250	SBUS output frame rate (Hz)
`sbus_out_pinswap`	`OFF` `ON`	Swap TX/RX pins
`sbus_out_inverted`	`OFF` `ON`	Invert SBUS output
`sport_master_pinswap`	`OFF` `ON`	Swap TX/RX pins on S.Port master
`sport_master_inverted`	`OFF` `ON`	Invert S.Port master signal
`bus_servo_source_type`	array	Source type for each bus servo channel

Pilot / Model Info

Parameter	Range / Values	Description
`name`	string	Craft name (shown in OSD and telemetry)
`display_name`	string	Display name
`model_id`	0–99	Model slot number
`model_param1_type` … `model_param3_type`	`NONE` `TIMER1` … `GV9`	Type of custom model parameter
`model_param1_value` … `model_param3_value`	any int16	Value of custom model parameter
`model_set_name`	`OFF` `ON`	Broadcast model name in telemetry
`model_tell_capacity`	`OFF` `ON`	Broadcast battery capacity in telemetry

System

Parameter	Range / Values	Description
`debug_mode`	(see `get debug_mode`)	Debug variable output slot selection
`debug_axis`	0–255	Axis selection for debug output
`task_statistics`	`OFF` `ON`	Track per-task timing statistics
`scheduler_relax_rx`	0–500	RX task determinism relaxation
`scheduler_relax_osd`	0–500	OSD task determinism relaxation
`serial_update_rate_hz`	100–2000	Serial port update rate
`reboot_character`	48–126	ASCII character that triggers CLI entry on serial port
`imu_dcm_kp`	0–32000	DCM complementary filter proportional gain
`imu_dcm_ki`	0–32000	DCM complementary filter integral gain
`timezone_offset_minutes`	-840–840	UTC offset for RTC clock

System Information

`status`

Displays a snapshot of the flight controller state: MCU type, clock speed, stack usage, EEPROM usage, detected sensors, active features, and armed/disarmed status.

status

`version`

Prints firmware version, build date, and target name.

version

`tasks`

Prints the scheduler task list with timing statistics (execution time, max, average, interval).

tasks

`mcu_id`

Prints the unique hardware ID of the microcontroller.

mcu_id

`setpoint_info`

Shows the current operational parameters of the setpoint smoothing filters.

setpoint_info

Receiver & RC

`aux`

Configures flight mode activation ranges on auxiliary RC channels.

aux <index> <mode> <aux> <start> <end> <logic>

<aux> is 0-based (AUX1 = 0).
<start> and <end> are channel values in µs (900–2100).
<logic>: 0 = normal, 1 = AND with previous range.

`rxfail`

Shows or sets per-channel failsafe behaviour.

rxfail                           # show all channel failsafe settings
rxfail <channel> <mode> [value]  # set failsafe for a channel

Modes: a (auto), h (hold), s (set to value).

`map`

Shows or sets the RC channel input mapping.

map           # show current mapping
map <AETR>    # set mapping (A=aileron/roll, E=elevator/pitch, T=throttle, R=rudder/yaw)

Feature Management

`feature`

Enables or disables firmware features.

feature list         # list all features and their state
feature <name>       # enable a feature
feature -<name>      # disable a feature

Available features include: RX_PPM, RX_SERIAL, SOFTSERIAL, GPS, RANGEFINDER, TELEMETRY, RX_PARALLEL_PWM, RX_MSP, RSSI_ADC, LED_STRIP, DASHBOARD, OSD, CMS, RX_SPI, GOVERNOR, ESC_SENSOR, FREQ_SENSOR, DYN_NOTCH, RPM_FILTER.

Hardware Configuration

`resource`

Shows or reassigns pin/peripheral resources.

resource                              # list all assigned resources
resource show [all]                   # detailed resource listing
resource <name> <index> <pin>|none    # assign a resource to a pin

Pin format: A01, B04, C13, etc.

`timer`

Shows or reassigns timer channels.

timer                                         # list configured timers
timer list                                    # list all timers
timer show                                    # show timer assignments
timer <pin> list                              # list options for a pin
timer <pin> [af<n>|none]                      # assign alternate function

`dma`

Shows or reassigns DMA streams/channels (on targets that support DMA remapping).

dma show
dma list
dma <device> <index> list
dma <device> <index> [<option>|none]

`serial`

Shows or configures serial port functions, baud rates, and modes.

serial    # list all serial port configurations
serial <identifier> <function> <mspBaud> <gpsBaud> <teleBaud> <blackboxBaud>

ESC Programming

`dshotprog`

Sends DShot ESC commands.

dshotprog <index> <command>+

<index> selects the motor (1-based); <command> is a DShot command number.

`dshot_telemetry_info`

Displays DShot telemetry statistics (if DShot telemetry is enabled).

dshot_telemetry_info

`beacon`

Enables or disables the DShot beacon for specific arming conditions.

beacon list
beacon [<-><name>]

`escprog`

Passes through serial data to an ESC for programming (BLHeli/BLHeli_32/Kira configurator).

escprog <mode> <index>

Modes: sk (SimonK), bl (BLHeli), ki (Kira), cc (Castle Creations).

FBUS / S.Port

`fbus_sensors`

Shows all sensor IDs observed on the FBUS/S.Port bus. Useful for diagnosing sensor connections.

fbus_sensors         # show detected sensors
fbus_sensors clear   # clear the sensor list

Serial Passthrough

`serialpassthrough`

Bridges a hardware UART directly to the USB VCP (or another UART). Used for ESC passthrough programming when the ESC is connected to a UART on the FC.

serialpassthrough <id1> [<baud1>] [<mode1>] [none|<dtr pinio>|reset] [<id2>] [<baud2>] [<mode2>]

<id> is the serial port identifier number.
<mode> is a combination of rx, tx characters (e.g. rxtx).
DTR pinio: a PINIO number used to assert DTR for BLHeli passthrough.

Adjustment Functions

`adjfunc`

Configures an inflight adjustment mapping — a range on an AUX channel that trims or switches a parameter.

adjfunc <index> <func> <enable_ch> <ena_start> <ena_end> <adj_ch> <dec_start> <dec_end> <inc_start> <inc_end> <step> <min> <max>

Parameter	Description
`index`	Slot number (0-based)
`func`	Adjustment function ID
`enable_ch`	AUX channel that gates this adjustment (0-based; 0xFF = always active)
`ena_start` / `ena_end`	Channel value range (µs) that enables this slot
`adj_ch`	AUX channel that provides the increment/decrement signal
`dec_start` / `dec_end`	Channel value range that decrements the value
`inc_start` / `inc_end`	Channel value range that increments the value
`step`	Amount to change per activation
`min` / `max`	Clamping limits for the adjusted parameter

LED Strip & Colours

These commands are only available when LED_STRIP is enabled.

`led`

Configures individual LED positions and functions.

led
led <index> <x,y:function:color:direction>

`color`

Configures the colour palette used by LED strip animations.

color
color <index> <hue,saturation,value>

`mode_color`

Sets the colours used for each flight mode in LED strip status mode.

mode_color
mode_color <mode> <direction> <colorIndex>

VTX Control

`vtx`

Configures VTX band/channel/power switching on AUX channel ranges.

vtx
vtx <index> <aux_channel> <vtx_band> <vtx_channel> <vtx_power> <start_range> <end_range>

`vtx_info`

Dumps the current VTX power table.

vtx_info

`vtxtable`

Configures the VTX frequency table.

vtxtable <band> <bandname> <bandletter> [FACTORY|CUSTOM] <freq> ...

GPS

`gpspassthrough`

Connects the GPS UART directly to the USB VCP for direct communication with the GPS module.

gpspassthrough

Board Information

`board_name`

Gets or sets the board model name stored in firmware.

board_name
board_name <name>

`board_design`

Gets or sets the board design identifier.

board_design
board_design <name>

`manufacturer_id`

Gets or sets the manufacturer ID.

manufacturer_id
manufacturer_id <id>

`signature`

Gets or sets the board type signature.

signature
signature <hex-signature>

Reboot / DFU

`bl`

Reboots into the bootloader.

bl        # reboot into ROM bootloader
bl rom    # explicitly select ROM bootloader
bl flash  # select flash-based bootloader (if present)

`dfu`

Reboots into DFU mode (STM32 USB DFU) for firmware flashing.

dfu

`msc`

Switches the flight controller into USB Mass Storage mode so the SD card appears as a drive.

msc                         # enter MSC mode
msc <timezone_offset_min>   # enter MSC mode with RTC timezone offset

Flash Memory

These commands are available when onboard flash memory (Blackbox storage) is present.

`flash_info`

Shows the flash chip type, size, and used/free space.

flash_info

`flash_erase`

Erases the entire flash chip (clears all Blackbox logs).

flash_erase

Gyro Diagnostics

`gyroregisters`

Dumps the raw register contents of the gyro IC. Useful for diagnosing hardware issues.

gyroregisters

SD Card

`sd_info`

Shows SD card type, capacity, and filesystem state.

sd_info

Examples

Backup your configuration

diff all

Click Save to File in Configurator to store the output.

Restore from a backup

Open the backup file using Load from File in Configurator, then click Execute. Once complete:

save

Test a servo without flying

servo override 1 1200    # push servo 1 to 1200 µs
servo override 1 1800    # push servo 1 to 1800 µs
servo override off       # release all servo overrides

Check what mixer rules are active

mixer rule

Enable RPM filtering

feature RPM_FILTER
save

Switch profile and confirm

profile 1
profile

Accessing the CLI
Basic Usage
Configuration Management
- diff
- dump
- defaults
- save
- batch
Profile Management
- profile
- rateprofile
Helicopter Configuration Commands
- mixer
- servo
- motor
Get / Set Variables
- set
- get
- Parameter reference
System Information
- status
- version
- tasks
- mcu_id
- setpoint_info
Receiver & RC
- aux
- rxfail
- map
Feature Management
- feature
Hardware Configuration
- resource
- timer
- dma
- serial
ESC Programming
- dshotprog
- dshot_telemetry_info
- beacon
- escprog
FBUS / S.Port
- fbus_sensors
Serial Passthrough
- serialpassthrough
Adjustment Functions
- adjfunc
LED Strip & Colours
- led
- color
- mode_color
VTX Control
- vtx
- vtx_info
- vtxtable
GPS
- gpspassthrough
Board Information
- board_name
- board_design
- manufacturer_id
- signature
Reboot / DFU
- bl
- dfu
- msc
Flash Memory
- flash_info
- flash_erase
Gyro Diagnostics
- gyroregisters
SD Card
- sd_info
Examples
- Backup your configuration
- Restore from a backup
- Test a servo without flying
- Check what mixer rules are active
- Enable RPM filtering
- Switch profile and confirm

Accessing the CLI​

Basic Usage​

Configuration Management​

diff​

dump​

defaults​

save​

batch​

Profile Management​

profile​

rateprofile​

Helicopter Configuration Commands​

mixer​

servo​

motor​

Get / Set Variables​

set​

get​

Parameter reference​

Gyro​

Accelerometer​

Board Alignment​

Motor​

Mixer (Swash)​

Governor (Global)​

Governor (Per-Profile)​

PID Gains (Per-Profile)​

Rescue Mode (Per-Profile)​

Stability Modes (Per-Profile)​

Rate Profile​

RC Controls​

Receiver​

Failsafe​

Battery & Voltage​

Arming​

RPM Filter​

ESC Sensor​

Blackbox​

Telemetry​

FBUS Master / SBUS Output​

Pilot / Model Info​

System​

System Information​

status​

version​

tasks​

mcu_id​

setpoint_info​

Receiver & RC​

aux​

rxfail​

map​

Feature Management​

feature​

Hardware Configuration​

resource​

timer​

dma​

serial​

ESC Programming​

dshotprog​

dshot_telemetry_info​

beacon​

escprog​

FBUS / S.Port​

fbus_sensors​

Serial Passthrough​

serialpassthrough​

Adjustment Functions​

adjfunc​

LED Strip & Colours​

led​

color​

mode_color​

VTX Control​

vtx​

vtx_info​

vtxtable​

GPS​

gpspassthrough​