CLI Settings - rotorflight/rotorflight GitHub Wiki
This page documents the CLI settings that are different from Betaflight.
Please refer to Betaflight Wiki for all compatible settings.
Main rotor rotation direction: Clock-wise (CW) or counter-clock-wise (CCW).
Set to MOTORIZED
you your tail has a separate motor.
Minimum throttle value for the tail motor to prevent it from stopping in flight (e.g. on full left rudder) in per mille. A value of 25 equals 2.5% throttle.
Number of magnetic poles in the motor. One value for each (possible) motor.
LPF cutoffs for motor RPM measurement filters, one for each (possible) motor.
Type of normalization applied to cyclic control vs. rotor speed.
Type of normalization applied to collective control vs. rotor speed.
I-term decay rate when not fully spooled up. Prevents tipping over on the ground.
Collective value for rescue function.
Added value for Collective during the rescue delay period.
Delay time period in seconds/10 so 15 = 1.5s. During this period the heli will level and rapidly gain altitude.
Circular limiter for pitch&roll. Value 0 indicates no limit. Value 100 is full circle.
The main rotor governor operating mode.
The gearing ratio between the main rotor and the motor, x1000.
For example, a TREX-450 with 150:14 gears would have a value 10714.
The maximum reasonable headspeed for this helicopter, matching 100% throttle input.
Please set this to a value that is known to be the maximum for the type of helicopter in question.
NOTE! Don't change it after that, as it is used for scaling in multiple places in the flight controller.
The time constant for spooling up [0.1s steps].
For example, value 150 means it would take 15sec for the main rotor to spool up from zero to max headspeed.
The time constant for throttle signal changing speed [0.1s steps]. This value indicates the time for the full range throttle change.
For example, value 30 means it would take 3sec for the main rotor to change speed from zero to max headspeed.
As above, but for an error recovery situation. [0.1s steps]
As above, but for autoration bailout. [0.1s steps]
Minimum flight time before autorotation can be engaged. [1s steps]
Maximum time to stay in autorotation before moving over to idle state.
Maximum time to wait for headspeed signal to return, before going to idle. [0.1s steps]
Maximum time to way for throttle signal to return, before going to idle. [0.1s steps]
LPF filter cutoffs for voltage and RPM inputs.
Governor master PID/F gain.
P-term gain for governod PID/F.
I-term gain for governor PID/F.
D-term gain for governor PID/F.
Feedforward gain for governor PID/F.
Collective feedforward weight for PID/F.
Cyclic feedforward weight for PID/F.
Feedforward exponent (x100) for the blade angle to drag estimation. Typically 120..180 (1.2..1.8).
Offset for battery voltage compensation. Leave it to zero unless you have plenty of logs to support other values.
Feedforward gains from cyclic/collective to yaw.
An extra offset for yaw. Typically used for trimming out any rate mode drift.
Master on/off switch for Absolute Control.
Renamed from level_limit
Below is a list of settings that are not available in Rotorflight.