CLI
The Command Line Interface (CLI)​
INAV has a command line interface (CLI) that can be used to change settings and configure the FC.
Access the CLI.​
The CLI can be accessed via the GUI tool or via a terminal emulator connected to the CLI serial port:
- Connect your terminal emulator to the CLI serial port (which, by default, is the same as the MSP serial port)
- Use the baudrate specified by msp_baudrate (115200 by default).
- Send a
#character.
To save your settings type in 'save', saving will reboot the flight controller.
To exit the CLI without saving power off the flight controller or type in 'exit'.
To see a list of other commands type in 'help' and press return.
To dump your configuration (including the current profile), use the 'dump' or 'diff' command.
See the other documentation sections for details of the cli commands and settings that are available.
Backup via CLI​
Disconnect main power, connect to cli via USB/FTDI.
dump using cli
profile 0
dump
dump profiles using cli if you use them
profile 1
dump profile
profile 2
dump profile
copy screen output to a file and save it.
Alternatively, use the diff command to dump only those settings that differ from their default values (those that have been changed).
Restore via CLI.​
Use the cli defaults command first.
When restoring from backup it's a good idea to do a dump of the latest defaults so you know what has changed - if you do this each time a firmware release is created you will be able to see the cli changes between firmware versions. If you blindly restore your backup you would not benefit from these new defaults or may even end up with completely wrong settings in case some parameters changed semantics and/or value ranges.
It may be good idea to restore settings using the diff output rather than complete dump. This way you can have more control on what is restored and the risk of mistakenly restoring bad values if the semantics changes is minimised.
To perform the restore simply paste the saved commands in the Configurator CLI tab and then type save.
After restoring it's always a good idea to dump or diff the settings once again and compare the output with previous one to verify if everything is set as it should be.
Flight Controller opereration while connected to the CLI​
While connected to the CLI, all Logical Switches are temporarily disabled (5.1.0 onwards).
CLI Command Reference​
Command | Description |
|---|---|
adjrange | Configure adjustment ranges |
assert | |
aux | Configure modes |
batch | Start or end a batch of commands |
battery_profile | Change battery profile |
beeper | Show/set beeper (buzzer) Buzzer docs |
bind_rx | Initiate binding for SRXL2 or CRSF receivers |
blackbox | Configure blackbox fields |
bootlog | Show boot events |
color | Configure colors |
defaults | Reset to defaults and reboot |
dfu | DFU mode on reboot |
diff | List configuration changes from default |
dump | Dump configuration |
exit | |
feature | List or enable or disable |
flash_erase | Erase flash chip |
flash_info | Show flash chip info |
flash_read | |
flash_write | |
get | Get variable value |
gpspassthrough | Passthrough gps to serial |
gvar | Configure global variables |
help | Displays CLI help and command parameters / options |
led | Configure leds |
logic | Configure logic conditions |
map | Configure rc channel order |
memory | View memory usage |
mmix | Custom motor mixer |
mode_color | Configure mode and special colors |
motor | Get/set motor |
msc | Enter USB Mass storage mode. See USB MSC documentation for usage information. |
osd_layout | Get or set the layout of OSD items |
pid | Configurable PID controllers |
play_sound | <index>, or none for next item |
profile | Change profile |
resource | View currently used resources |
rxrange | Configure rx channel ranges |
safehome | Define safe home locations. See the [safehome documentation] for usage information. |
save | Save and reboot |
sd_info | Sdcard info |
serial | Configure serial ports. Serial Ports Docs |
serialpassthrough | Passthrough serial data to port, with <id> <baud> <mode> <options>, where id is the zero based port index, baud is a standard baud rate, mode is rx, tx, or both (rxtx), and options is a short string like 8N1 or 8E2 |
servo | Configure servos |
set | Change setting with name=value or blank or * for list |
smix | Custom servo mixer |
status | Show status. Error codes can be looked up Error Codes |
tasks | Show task stats |
temp_sensor | List or configure temperature sensor(s). See [temperature sensors documentation] for more information. |
timer_output_mode | Override automatic timer / pwm function allocation. [Additional Information] |
version | Show version |
wp | List or configure waypoints. See the [navigation documentation]. |
Notes:
- Available commands depend upon hardware specific and debug build options. Not all commands are available in every FC.
- The above list shows the output available in the CLI
helpcommand. This may also show additional information.
serial​
The syntax of the serial command is serial <id> <function_value> <msp-baudrate> <gps-baudrate> <telemetry-baudate> <peripheral-baudrate>.
A shorter form is also supported to enable and disable a single function using serial <id> +n and serial <id> -n, where n is the a serial function identifier. The following values are available:
| Function | Bit Identifier | Numeric value |
|---|---|---|
| MSP | 0 | 1 |
| GPS | 1 | 2 |
| TELEMETRY_FRSKY | 2 | 4 |
| TELEMETRY_HOTT | 3 | 8 |
| TELEMETRY_LTM | 4 | 16 |
| TELEMETRY_SMARTPORT | 5 | 32 |
| RX_SERIAL | 6 | 64 |
| BLACKBOX | 7 | 128 |
| TELEMETRY_MAVLINK | 8 | 256 |
| TELEMETRY_IBUS | 9 | 512 |
| RCDEVICE | 10 | 1024 |
| VTX_SMARTAUDIO | 11 | 2048 |
| VTX_TRAMP | 12 | 4096 |
| UAV_INTERCONNECT | 13 | 8192 |
| OPTICAL_FLOW | 14 | 16384 |
| LOG | 15 | 32768 |
| RANGEFINDER | 16 | 65536 |
| VTX_FFPV | 17 | 131072 |
| ESCSERIAL | 18 | 262144 |
| TELEMETRY_SIM | 19 | 524288 |
| FRSKY_OSD | 20 | 1048576 |
| DJI_HD_OSD | 21 | 2097152 |
| SERVO_SERIAL | 22 | 4194304 |
| TELEMETRY_SMARTPORT_MASTER | 23 | 8388608 |
| UNUSED | 24 | 16777216 |
| MSP_DISPLAYPORT | 25 | 33554432 |
| GIMBAL_SERIAL | 26 | 67108864 |
| HEADTRACKER_SERIAL | 27 | 134217728 |
Thus, to enable MSP and LTM on a port, one would use the function value of 17 (1 < 0)+(1<4), aka 1+16, aka 17.
serial 0 17 57600 57600 57600 57600
but to remove LTM using the +/- shorthand, use the bit Id (4, TELEMETRY_LTM):
serial 0 -4
serial can also be used without any argument to print the current configuration of all the serial ports.
timer_output_mode​
Since INAV 7, the firmware can dynamically allocate servo and motor outputs. This removes the need for bespoke targets for special cases (e.g. MATEKF405 and MATEKF405_SERVOS6).
Syntax​
timer_output_mode [timer [function]]
where:
- Without parameters, lists the current timers and modes
- With just a
timerlists the mode for that timer - With both
timerandfunction, sets the function for that timers
Note:
timeridentifies the timer index (from 0); thus is one less than the correspondingTIMndefinition in a target'starget.c.- The function is one of
AUTO(the default),MOTORSorSERVOS.
Motors are allocated first, hence having a servo before a motor may require use of timer_output_mode.
Example​
The original MATEKF405 target defined a multi-rotor (MR) servo on output S1. The later MATEKF405_SERVOS6 target defined (for MR) S1 as a motor and S6 as a servo. This was more logical, but annoying for anyone who had a legacy MATEKF405 tricopter with the servo on S1.
Solution​
There is now a single MATEKF405 target. The target.c sets the relevant outputs as:
DEF_TIM(TIM3, CH1, PC6, TIM_USE_OUTPUT_AUTO, 0, 0), // S1
DEF_TIM(TIM8, CH2, PC7, TIM_USE_OUTPUT_AUTO, 0, 1), // S2 UP(2,1)
DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 1), // S3 UP(2,1)
DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // S4 UP(2,1)
DEF_TIM(TIM2, CH1, PA15, TIM_USE_MC_MOTOR | TIM_USE_LED, 0, 0), // S5 UP(1,7)
DEF_TIM(TIM1, CH1, PA8, TIM_USE_OUTPUT_AUTO, 0, 0), // S6 UP(2,5)
DEF_TIM(TIM4, CH3, PB8, TIM_USE_OUTPUT_AUTO, 0, 0), // S7 D(1,7)!S5 UP(2,6)
Using the "motors first" allocation, the servo would end up on S6, which in the legacy "tricopter servo on S1" case is not desired.
Forcing the S1 output (TIM3) to servo is achieved by:
timer_output_mode 2 SERVOS
with resulting resource output:
C06: SERVO4 OUT
C07: MOTOR1 OUT
C08: MOTOR2 OUT
C09: MOTOR3 OUT
Note that the timer index in the timer_output_mode line is one less than the mnemonic in target.c, timer of 2 for TIM3.
Note that the usual caveat that one should not share a timer with both a motor and a servo still apply.
Flash chip management​
For targets that have a flash data chip, typically used for blackbox logs, the following additional comamnds are provided.
| Command | Effect |
|---|---|
flash_erase | Erases the flash chip |
flash_info | Displays flash chip information (used, free etc.) |
flash_read <length> <address> | Reads length bytes from address |
flash_write <address> <data> | Writes data to address |
CLI Variable Reference​
TODO: The properly formatted CLI Variables page is in progress.
For now, the CLI variables can be accessed from the firmware dev repo here.