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.

Rotorflight specific CLI settings

Helicopter settings

main_rotor_dir = CW|CCW

Main rotor rotation direction: Clock-wise (CW) or counter-clock-wise (CCW).

tail_rotor_mode = VARIABLE|MOTORIZED

Set to MOTORIZED you your tail has a separate motor.

tail_motor_idle = <value>

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.

motor_poles = <value>,...

Number of magnetic poles in the motor. One value for each (possible) motor.

motor_rpm_lpf = <Hz>,...

LPF cutoffs for motor RPM measurement filters, one for each (possible) motor.

cyclic_normalization = ABSOLUTE|LINEAR|NATURAL

Type of normalization applied to cyclic control vs. rotor speed.

collective_normalization = ABSOLUTE|LINEAR|NATURAL

Type of normalization applied to collective control vs. rotor speed.

iterm_decay = <value>

I-term decay rate when not fully spooled up. Prevents tipping over on the ground.

rescue_collective = <value>

Collective value for rescue function.

rescue_boost = <value>

Added value for Collective during the rescue delay period.

rescue_delay = <value>

Delay time period in seconds/10 so 15 = 1.5s. During this period the heli will level and rapidly gain altitude.

swash_ring = <value>

Circular limiter for pitch&roll. Value 0 indicates no limit. Value 100 is full circle.

Governor settings

gov_mode = OFF|PASSTHROUGH|NORMAL|MODE1|MODE2

The main rotor governor operating mode.

gov_gear_ratio = <value>

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.

gov_headspeed = <value>

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.

gov_spoolup_time = <value>

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.

gov_tracking_time = <value>

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.

gov_recovery_time = <value>

As above, but for an error recovery situation. [0.1s steps]

gov_autorotation_bailout_time = <value>

As above, but for autoration bailout. [0.1s steps]

gov_autorotation_min_entry_time = <value>

Minimum flight time before autorotation can be engaged. [1s steps]

gov_autorotation_timeout = <value>

Maximum time to stay in autorotation before moving over to idle state.

gov_lost_headspeed_timeout = <value>

Maximum time to wait for headspeed signal to return, before going to idle. [0.1s steps]

gov_lost_throttle_timeout = <value>

Maximum time to way for throttle signal to return, before going to idle. [0.1s steps]

gov_pwr_filter = <Hz>

gov_rpm_filter = <Hz>

LPF filter cutoffs for voltage and RPM inputs.

gov_gain = <value>

Governor master PID/F gain.

gov_p_gain = <value>

P-term gain for governod PID/F.

gov_i_gain = <value>

I-term gain for governor PID/F.

gov_d_gain = <value>

D-term gain for governor PID/F.

gov_f_gain = <value>

Feedforward gain for governor PID/F.

gov_collective_ff_weight = <value>

Collective feedforward weight for PID/F.

gov_cyclic_ff_weight = <value>

Cyclic feedforward weight for PID/F.

gov_ff_exponent = <value>

Feedforward exponent (x100) for the blade angle to drag estimation. Typically 120..180 (1.2..1.8).

gov_vbat_offset = <value>

Offset for battery voltage compensation. Leave it to zero unless you have plenty of logs to support other values.

RPM Filter settings

gyro_rpm_filter_bank_motor_index = <value>,<value>,...

gyro_rpm_filter_bank_gear_ratio = <value>,<value>,...

gyro_rpm_filter_bank_notch_q = <value>,<value>,...

gyro_rpm_filter_bank_max_hz = <value>,<value>,...

gyro_rpm_filter_bank_min_hz = <value>,<value>,...

PID/F Profile Settings

yaw_cyclic_ff_gain = <value>

yaw_collective_ff_gain = <value>

yaw_collective_ff_impulse_freq = <hz>

yaw_collective_ff_impulse_gain = <value>

Feedforward gains from cyclic/collective to yaw.

yaw_center_offset = <value>

An extra offset for yaw. Typically used for trimming out any rate mode drift.

abs_control = ON|OFF

Master on/off switch for Absolute Control.

angle_level_limit = <value>

Renamed from level_limit

Removed settings

Below is a list of settings that are not available in Rotorflight.

3d_deadband_high

3d_deadband_low

3d_deadband_throttle

3d_limit_high

3d_limit_low

3d_neutral

3d_switched_mode

acc_limit

acc_limit_yaw

airmode_start_throttle_percent

anti_gravity_gain

anti_gravity_mode

anti_gravity_threshold

auto_profile_cell_count

channel_forwarding_start

crash_delay

crash_dthreshold

crashflip_expo

crashflip_motor_percent

crash_gthreshold

crash_limit_yaw

crash_recovery

crash_recovery_angle

crash_recovery_rate

crash_setpoint_threshold

crash_time

d_min_advance

d_min_boost_gain

d_min_pitch

d_min_roll

d_min_yaw

dterm_rpm_notch_harmonics

dterm_rpm_notch_min

dterm_rpm_notch_q

dyn_lpf_dterm_curve_expo

dyn_lpf_dterm_max_hz

dyn_lpf_dterm_min_hz

dyn_lpf_gyro_max_hz

dyn_lpf_gyro_min_hz

feedforward_transition

fpv_mix_degrees

gimbal_mode

gyro_rpm_notch_harmonics

gyro_rpm_notch_min

gyro_rpm_notch_q

ibatv_offset

ibatv_scale

idle_adjustment_speed

idle_max_increase

idle_min_rpm

idle_p

idle_pid_limit

integrated_yaw_relax

iterm_windup

launch_angle_limit

launch_control_gain

launch_control_mode

launch_trigger_allow_reset

launch_trigger_throttle_percent

level_limit

level_race_mode

motor_output_limit

pid_at_min_throttle

pidsum_limit

pidsum_limit_yaw

rpm_notch_lpf

runaway_takeoff_deactivate_delay

runaway_takeoff_deactivate_throttle_percent

servo_center_pulse

servo_lowpass_hz

small_angle

thr_corr_angle

thr_corr_value

thr_expo

thr_mid

throttle_boost

throttle_boost_cutoff

thrust_linear

tpa_breakpoint

tpa_mode

tpa_rate

transient_throttle_limit

tri_unarmed_servo

use_integrated_yaw

vbat_pid_gain

vbat_sag_compensation

vbat_sag_lpf_period

yaw_lowpass_hz

yaw_motors_reversed

yaw_spin_recovery

yaw_spin_threshold

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