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Full Parameter List

List of all the cli parameters in EmuFlight 1.0.0 (still a work in progress)

Parameter Name Parameter Description Min/Max/Table Default Units
gyro_hardware_lpf Filter that the gyro hardware produces. Normal is suggested. NORMAL, EXPERIMENTAL NORMAL  
gyro_high_range Increases the max DPS that your gyro can read. Only works for some gyros. (list those later) ON, OFF OFF  
gyro_lowpass_type Filter order for the gyro lowpass filter. Higher orders have sharper cutoff. PT1, PT2, PT3, PT4 PT1  
gyro_notch1_hz Center frequency for a notch filter placed on the gyro. A value of 0 disables the filter. 0-4000 0 Hz
gyro_notch1_cutoff Cutoff frequency for the gyro notch filter. 0-4000 0 Hz
gyro_abg_alpha Alpha value for a Alpha Beta Gamma filter on the gyro. Alpha Beta Gamma filters are simplified forms of observer for estimation, data smoothing and control applications. Higher values are less filtering and lower values filter more. When set to low the data lags, but to high and it doesn’t do a whole lot of filtering. 0-1000 0  
gyro_abg_boost A non-linear boost to the error which the Alpha Beta Gamma filter uses in its calculations. Higher boost will make the Alpha Beta Gamma filter more responsive, but a bit noisier. 0-2000 375  
gyro_abg_half_life Reduces the scope of data which the Alpha Beta Gamma filter uses to make its prediction. The default of 50 means that after half a second the Alpha Beta Gamma remembers only half of the history. This makes the Alpha Beta Gamma filter rely more on newer data rather than old data. 0-1000 50 Seconds/100
gyro_calib_duration The amount of time used for gyro calibration. 50-3000 125 Seconds/100
gyro_calib_noise_limit Noise level the gyro must be below during the gyro calibration 0-200 48  
gyro_offset_yaw Meant to deal with yaw attitude drift. Only works when board are aligned normally and not exotically. The basic setup can be done on the bench without LiPo, USB powered power on, do not move the quad for 10 minutes for CW set a positive value equal to the drift, and negative for the CCW direction. -1000-1000 0  
imuf_roll_q Trust value for the kalman filter on the roll axis. (need to finish this) 0-16000 3200  
imuf_pitch_q Trust value for the kalman filter on the pitch axis. (need to finish this) 0-16000 3200  
imuf_yaw_q Trust value for the kalman filter on the yaw axis. (need to finish this) 0-16000 3200  
imuf_w Number of samples the kalman filter looks at for its prediction. Larger drones generally fly better with higher w values. 0-300 32  
gyro_overflow_detect   OFF, YAW, ALL ALL  
yaw_spin_recovery   OFF, ON, AUTO AUTO  
yaw_spin_threshold   500-1950 1950 deg/sec
gyro_use_32khz   OFF, 16K, 32K OFF  
gyro_to_use   FIRST, SECOND, BOTH FIRST  
leaving space for dyn notch stuff        
         
         
         
dyn_lpf_gyro_min_hz   0-1000 115 hz
dyn_lpf_gyro_width   0-255 0 %
dyn_lpf_gyro_curve_expo   0-10 5  
dyn_lpf_gain   0-200 0  
gyro_filter_debug_axis   ROLL, PITCH, YAW ROLL  
smith_predict_str   0-100 50  
smith_predict_delay   0-80 40 ms/10
smith_predict_filt_hz   0-10000 5 Hz
acc_hardware        
acc_high_range        
acc_lpf_hz   0-400   Hz
acc_trim_pitch   -300-300 0  
acc_trim_roll   -300-300 0  
acc_calibration        
align_mag        
mag_align_roll   -3600-3600 0 deg/10
mag_align_pitch   -3600-3600 0 deg/10
mag_align_yaw   -3600-3600 0 deg/10
mag_bustype        
mag_i2c_device        
mag_i2c_address        
mag_spi_device        
mag_hardware        
mag_calibration        
baro_bustype        
baro_spi_device        
baro_i2c_device        
baro_i2c_address        
baro_hardware        
baro_tab_size        
baro_noise_lpf   0-1000   Hz
baro_cf_vel   0-1000    
mid_rc   1200-1700    
min_check        
max_check        
rssi_channel        
rssi_src_frame_errors        
rssi_scale        
rssi_offset   -100-100    
rssi_invert        
rssi_src_frame_lpf_period        
rc_interp        
rc_interp_ch        
rc_interp_int        
rc_smoothing_type        
rc_smoothing_input_hz        
rc_smoothing_derivative_hz        
rc_smoothing_debug_axis        
rc_smoothing_input_type        
rc_smoothing_derivative_type        
rc_smoothing_auto_smoothness        
rc_predictor_percent        
rc_predictor_velocity_hz        
rc_predictor_time        
fpv_mix_degrees        
yaw_around_gravity        
max_aux_channels        
serialrx_provider        
serialrx_inverted        
spektrum_sat_bind        
spektrum_sat_bind_autoreset        
srxl2_unit_id        
srxl2_baud_fast        
sbus_baud_fast        
crsf_use_rx_snr        
airmode_start_throttle_percent        
rx_min_usec        
rx_max_usec        
serialrx_halfduplex        
msp_override_channels_mask        
rx_spi_protocol        
rx_spi_bus        
rx_spi_led_inversion        
show_altered_rc        
adc_device        
adc_vrefint_calibration        
adc_tempsensor_calibration30        
adc_tempsensor_calibration110        
input_filtering_mode        
blackbox_sample_rate        
blackbox_device        
blackbox_disable_pids        
blackbox_disable_rc        
blackbox_disable_setpoint        
blackbox_disable_bat        
blackbox_disable_mag        
blackbox_disable_alt        
blackbox_disable_rssi        
blackbox_disable_gyro        
blackbox_disable_acc        
blackbox_disable_debug        
blackbox_disable_motors        
blackbox_disable_gps        
blackbox_mode        
min_throttle        
max_throttle        
min_command        
dshot_idle_value        
dshot_burst        
dshot_bidir        
dshot_bitbang        
dshot_bitbang_timer        
use_unsynced_pwm        
motor_pwm_protocol        
motor_pwm_rate        
motor_pwm_inversion        
motor_poles        
motor_output_reordering        
thr_corr_value        
thr_corr_angle        
failsafe_delay        
failsafe_off_delay        
failsafe_throttle        
failsafe_switch_mode        
failsafe_throttle_low_delay        
failsafe_procedure        
failsafe_recovery_delay        
failsafe_stick_threshold        
align_board_roll        
align_board_pitch        
align_board_yaw        
gimbal_mode        
bat_capacity        
vbat_max_cell_voltage        
vbat_full_cell_voltage        
vbat_min_cell_voltage        
vbat_warning_cell_voltage        
vbat_hysteresis        
current_meter        
battery_meter        
vbat_detect_cell_voltage        
use_vbat_alerts        
use_cbat_alerts        
cbat_alert_percent        
vbat_cutoff_percent        
force_battery_cell_count        
vbat_display_lpf_period        
vbat_sag_lpf_period        
ibat_lpf_period        
vbat_duration_for_warning        
vbat_duration_for_critical        
vbat_scale        
vbat_divider        
vbat_multiplier        
ibata_scale        
ibata_offset        
ibatv_scale        
ibatv_offset