Command Line Interface (CLI)

Betaflight has a command line interface (CLI) that can be used to change settings and configure the FC.

This document is a complete reference for all CLI commands and variables in Betaflight 2025.12. It covers every configurable parameter: gyro/filter tuning, PID configuration, rates, failsafe, GPS, battery monitoring, OSD, LED strip, VTX, telemetry, hardware configuration, and more. All defaults and ranges below are accurate for Betaflight 2025.12 only; they may differ in older versions.

Important version differences

• Dynamic damping naming and calculation have changed: in 4.5 d_roll is D_max and d_min_roll is base D; in 2025.12 d_roll is the base D and d_max_roll is the peak — d_min_roll no longer exists.
• GPS rescue: gps_rescue_* variables exist in 4.5 only; redesigned in 2025.12.
• Failsafe landing duration: failsafe_off_delay (4.5) → failsafe_landing_time (2025.12).

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CLI Access & Usage

Accessing the CLI

Send # over the serial port (or use the CLI tab in Betaflight Configurator). Enter save to write settings and reboot. Enter exit or exit noreboot to leave without saving.

Key CLI Commands

Betaflight CLI displays useful commands when the help command is entered. Below is a curated list of the most important commands for tuning and configuration. For the full list, refer to the help output of your specific Betaflight version.

Command	Description
batch start|end	Start or end a batch of commands
get [name]	Show current value of one or all variables (partial name works: get acc)
set name=value	Set a variable. Must save afterward.
save	Write settings to flash and reboot FC
save noreboot	Write settings without rebooting (2025.12+)
exit	Exit CLI without saving and reboot
exit noreboot	Exit CLI without saving and without rebooting
diff [master|profile|rates|hardware|all] {defaults|bare}	List configuration changes from default
diff all	Show all non-default settings across all profiles
dump [master|profile|rates|hardware|all] {defaults|bare}	Full configuration dump (all values, including defaults)
dump all	Full dump across all profiles
defaults	Reset to defaults and reboot
defaults nosave	Reset to defaults without rebooting
status	Show FC status: gyro type, loop time, CPU load, arming flags
version	Show firmware version string
tasks	Show task scheduler stats (CPU usage per task)
profile [0-5]	Change active PID profile
rateprofile [0-5]	Change active rate profile
feature list	List all available features
feature <feature_name>	Enable a feature
feature -<feature_name>	Disable a feature
aux <index> <mode> <channel> <start> <end> <logic>	Configure AUX mode switch
mixer list|<name>	Mixer name or list
mmix	Design custom motor mixer
smix	Design custom servo mixer
servo	Configure servos
led	Configure leds
color	Configure colors
mode_color	Configure mode and special colors
play_sound [<index>]	Play a sound for given index, or none for next
map	Show/set RC channel order mapping
rxrange	configure rx channel ranges (end-points)
rxfail	Show/set per-channel failsafe fallback values
resource <> | <resource name> <index> [<pin>|none] | show [all]	Show/set pin assignments
dma	Show/set DMA channel assignments
serial	Configure serial ports and baud rates
serialpassthrough <id1> [<baud1>] [<mode1>] [none|<dtr pinio>|reset] [<id2>] [<baud2>] [<mode2>]	Passthrough serial data data from port 1 to VCP / port 2
adjrange	Configure in-flight adjustment ranges
motor <index> [value]	Read or drive a motor (use with caution — props off)
dshot_telemetry_info	Show DSHOT telemetry info and statistics
dshotprog <index> <cmd>+	Send DSHOT ESC programming commands
escprog <mode [sk/bl/ki/cc]> <index>	Passthrough ESC to serial
gpspassthrough	Passthrough GPS to serial
gyroregisters	Dump raw gyro hardware register contents
simplified_tuning apply|disable	Apply or clear simplified tuning slider values
bind_rx	Initiate RX binding (SRXL2, CRSF, SPI RX)
bl [rom]	Reboot into bootloader
msc	Switch to USB mass-storage mode (SD card or flash)
rc_smoothing_info	Show RC smoothing operational settings
vtx_info	Show VTX power configuration
flash_info	Show flash chip info
flash_scan	Scan flash device for errors
flash_erase	Erase flash chip (deletes blackboxes)
tasks	Show task stats
timer <> | <pin> list | <pin> [af<alternate function>|none|<option(deprecated)>] | list | show	Show/set timers

Backup and Restore

Always back up before firmware updates. Never paste a diff or dump from one firmware version into a different version — variable names and valid ranges change between releases and will silently corrupt the configuration.

# Backup
diff all         # preferred — only changed settings, all profiles

# Restore
defaults         # full chip erase first
# paste diff output line by line (not too fast over USART)
save

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Variable Reference

Column headers: Variable | Default | Range / Values | Description

Scope annotations in the raw dump: profile N = per-PID-profile, rateprofile N = per-rate-profile, no annotation = master (global).

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Gyro & IMU

Variable	Default	Range / Values	Description
gyro_hardware_lpf	NORMAL	NORMAL, OPTION_1, OPTION_2, EXPERIMENTAL	Hardware low-pass filter mode built into the gyro chip. NORMAL is correct for almost all builds. OPTION_1/2/EXPERIMENTAL select alternative hardware bandwidth settings where supported by the sensor.
gyro_calib_duration	125	50–3000	Gyro calibration duration in 0.1s steps (125 = 12.5s). Longer = more accurate offset measurement.
gyro_calib_noise_limit	48	0–200	Noise threshold during calibration. If movement exceeds this, calibration restarts. Increase if it won't calibrate in a noisy environment.
gyro_offset_yaw	0	−1000 – 1000	Manual yaw gyro trim (tenths of degrees/s). Use to correct persistent yaw drift if trim sticks or acc trim are not sufficient.
gyro_overflow_detect	ALL	OFF, YAW, ALL	Detects gyro ADC saturation (sensor hitting its limit) and disarms. Recommended: ALL.
imu_dcm_kp	2500	0–32000	Complementary filter proportional gain. Controls how aggressively acc data is blended with gyro integration. Default is suitable for all normal use.
imu_dcm_ki	0	0–32000	Complementary filter integral gain. Non-zero allows slow acc-based yaw correction. Rarely changed.
imu_process_denom	2	1–4	IMU attitude update rate divisor relative to gyro task rate. 2 = update every second gyro cycle. Higher values reduce CPU load at the cost of attitude accuracy.
small_angle	25	0–180	Maximum tilt angle (degrees) to permit arming. Set to 180 to arm at any angle (not recommended). During PID tuning set to 30 for safe angle-mode indoor flights.
pid_process_denom	1	1–16	PID loop rate divisor relative to gyro rate. 1 = PID runs every gyro sample. For 8kHz gyro with denom=2 → 4kHz PID rate. Target: BMI270 → 3.2kHz (tune with denom accordingly); ICM-42688P/MPU-6000 → 8kHz.
gyro_cal_on_first_arm	OFF	OFF, ON	Recalibrates gyro on first arm after power-up. Useful if the FC warms up and gyro drifts before the first arm.
prearm_allow_rearm	OFF	OFF, ON	Allow re-arm without toggling the prearm switch between flights.
auto_disarm_delay	5	0–60	Seconds of throttle-zero before auto-disarm. 0 = disabled.
gyro_filter_debug_axis	ROLL	ROLL, PITCH, YAW	Which axis is exposed in debug fields for gyro filter analysis.
acc_calibration	0,0,0,0	Array of 4	Raw accelerometer calibration offsets written by the calibration routine. Do not edit manually.
acc_limit	0	0–500 (profile)	Limits the accelerometer correction applied to the attitude estimate in angle/horizon mode. 0 = no limit.
acc_limit_yaw	0	0–500 (profile)	Same as acc_limit but applied to the yaw axis. 0 = no limit.
acc_high_range	OFF	OFF, ON	Enable high-range accelerometer mode for sensors that support it.

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Gyro Filters

Gyro LPF1 is the main gyro low-pass. In most modern builds with RPM filtering, disable LPF1 (gyro_lpf1_static_hz = 0) as it adds unnecessary delay. LPF2 is an anti-aliasing filter; raise its cutoff or disable if the gyro and PID rates are equal.

Variable	Default	Range / Values	Description
gyro_lpf1_type	PT1	PT1, BIQUAD, PT2, PT3	Filter type for gyro LPF1. PT1 = first-order, least delay.
gyro_lpf1_static_hz	250	0–1000	Static cutoff for LPF1. Set to 0 to disable (recommended with RPM filtering).
gyro_lpf1_dyn_min_hz	250	0–1000	Dynamic LPF1 minimum cutoff (at low throttle). Set equal to gyro_lpf1_static_hz to use static mode.
gyro_lpf1_dyn_max_hz	500	0–1000	Dynamic LPF1 maximum cutoff (at full throttle).
gyro_lpf1_dyn_expo	5	0–10	Expo curve shaping for dynamic LPF1 cutoff vs throttle. Higher = faster rise.
gyro_lpf2_type	PT1	PT1, BIQUAD, PT2, PT3	Filter type for gyro LPF2 (anti-aliasing).
gyro_lpf2_static_hz	500	0–1000	LPF2 cutoff. Raise toward 1000 Hz to reduce phase delay. Set to 0 if gyro rate = PID rate (aliasing not possible).
gyro_notch1_hz	0	0–1000	Centre frequency of static gyro notch 1. 0 = disabled. Use for specific persistent resonances not handled by dynamic notch.
gyro_notch1_cutoff	0	0–1000	Bandwidth of gyro notch 1. Must be less than gyro_notch1_hz.
gyro_notch2_hz	0	0–1000	Centre frequency of static gyro notch 2. 0 = disabled.
gyro_notch2_cutoff	0	0–1000	Bandwidth of gyro notch 2.

Also see:

• PID tuning
• PID tuning guide

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Dynamic Notch Filter

Tracks and eliminates frame resonances — visible as vertical stripes (fixed frequency, amplitude varies with throttle) in the blackbox spectrum.

Variable	Default	Range / Values	Description
dyn_notch_count	3	0–7	Number of independently tracked dynamic notches. Set to 0 to disable if no frame resonances are visible in the spectrum (eliminates delay). With RPM filtering active, 1–2 notches are sufficient for most frame resonances. Without RPM filtering, use 4–5.
dyn_notch_q	300	1–1000	Q factor — narrowness of each notch. Increase until the resonance just stays within the notch, then stop. Max useful value ~1000.
dyn_notch_min_hz	100	20–250	Minimum frequency any notch will track. Set ~25 Hz below the lowest resonance you need to catch. Never set below 150 Hz without reason (ideally ≥200 Hz) — tracking low frequencies causes unwanted filtering of PID-relevant signals.
dyn_notch_max_hz	600	200–1000	Maximum frequency any notch will track. Default 600 is fine for most builds. Narrowing the range improves notch resolution.

Also see:

• PID tuning
• PID tuning guide

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D-term & PID Output Filters

Two-stage D-term filter chain reduces motor noise heating caused by high-frequency D-term content. Use the Karate approach (slider-based) or the AOS approach (manual dyn cutoff) — not both simultaneously.

Variable	Default	Range / Values	Description
dterm_lpf1_type	PT1	PT1, BIQUAD, PT2, PT3	Type for D-term LPF1. BIQUAD gives sharper roll-off; PT1 is less phase.
dterm_lpf1_static_hz	75	0–1000 (profile)	Static cutoff for D-term LPF1. Used when dterm_lpf1_dyn_min_hz == dterm_lpf1_dyn_max_hz.
dterm_lpf1_dyn_min_hz	75	0–1000 (profile)	Dynamic D-term LPF1 minimum cutoff (at idle throttle). AOS tune: 80 Hz.
dterm_lpf1_dyn_max_hz	150	0–1000 (profile)	Dynamic D-term LPF1 maximum cutoff (at full throttle). AOS tune: 110 Hz.
dterm_lpf1_dyn_expo	5	0–10 (profile)	Expo curve for dynamic D-term LPF1 vs throttle. Push as high as possible without mid-throttle oscillations.
dterm_lpf2_type	PT1	PT1, BIQUAD, PT2, PT3	Type for D-term LPF2.
dterm_lpf2_static_hz	150	0–1000 (profile)	Cutoff for D-term LPF2 (always static). Use as a secondary anti-noise stage.
dterm_notch_hz	0	0–1000 (profile)	Static D-term notch centre frequency. 0 = disabled. Rarely needed when dynamic notch is active.
dterm_notch_cutoff	0	0–1000 (profile)	Static D-term notch bandwidth.
yaw_lowpass_hz	100	0–500 (profile)	Low-pass filter applied to the final yaw PID output (post-summation). Reduces yaw noise feeding into motors. Set to 0 to disable for maximum yaw responsiveness.

Also see:

• PID tuning
• PID tuning guide

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PID Gains

All gains are per-profile. Scope shown in the raw dump as profile N. The simplified tuning sliders scale these values — after applying simplified tuning, the raw values reflect the result.

Variable	Default	Range	Description
p_roll	45	0–250	Roll P gain. Reacts to angle error. Too high → fast oscillations on sharp moves.
i_roll	80	0–250	Roll I gain. Corrects accumulated angle error and maintains attitude. Too low → drift; too high → slow post-flip wobble.
d_roll	30	0–250	Base/floor D (D_min). Damps rate of change, counters P overshoot and propwash.
d_max_roll	40	0–250	Dynamic damping ceiling — D value used during fast moves. Must be ≥ d_roll.
f_roll	120	0–1000	Feed forward for roll. Compensates for stick input lag. Scaled by the simplified_feedforward_gain slider.
s_roll	0	0–250	S-term (stability term) for roll. New in 2025.12 — provides additional stability control. (Requires: USE_WING)
p_pitch	47	0–250	Pitch P gain. Pitch typically needs slightly higher P than roll due to greater inertia.
i_pitch	84	0–250	Pitch I gain.
d_pitch	34	0–250	Base/floor D (D_min).
d_max_pitch	46	0–250	D_max for pitch.
f_pitch	125	0–1000	Feed forward for pitch.
s_pitch	0	0–250	S-term for pitch. (Requires: USE_WING)
p_yaw	45	0–250	Yaw P gain.
i_yaw	80	0–250	Yaw I gain.
d_yaw	0	0–250	Yaw D gain. Usually left at 0 — yaw is torque-based and inherently slower; D adds noise.
d_max_yaw	0	0–250	D_max for yaw.
f_yaw	120	0–1000	Feed forward for yaw.
s_yaw	0	0–250	S-term for yaw. (Requires: USE_WING)
pidsum_limit	500	100–1000 (profile)	Clamps total P+I+D output. Set to 1000 (remove clamp) during initial PID tuning; restore default after.
pidsum_limit_yaw	400	100–1000 (profile)	Clamps total yaw PID output. Set to 1000 during initial tuning; default 400 limits yaw authority.
anti_gravity_gain	80	0–250 (profile)	Boosts I-term on rapid throttle changes to prevent yaw/pitch dip on punch. Reduce if throttle-punch wobbles appear.
anti_gravity_p_gain	100	0–250 (profile)	Boosts P-term (in addition to I) on rapid throttle changes. Reduce if punches cause P-induced oscillations.
anti_gravity_cutoff_hz	5	2–50 (profile)	LPF cutoff for throttle derivative used by anti-gravity. Adjust for very large or small builds (larger = faster, smaller = slower response).
iterm_rotation	OFF	OFF, ON (profile)	Rotates I-term vector with the aircraft during yaw to reduce cross-axis coupling. Primarily useful for 3D flying.
iterm_relax	RP	OFF, RP, RPY, RP_INC, RPY_INC (profile)	Axes on which I-term relaxation (anti-windup during fast moves) is active. RP = roll and pitch. RPY includes yaw.
iterm_relax_type	SETPOINT	GYRO, SETPOINT (profile)	Signal used to detect a fast move. SETPOINT uses stick input signal; GYRO uses actual gyro rate. SETPOINT is default and works well for most cases.
iterm_relax_cutoff	15	1–50 (profile)	Cutoff frequency for the I-term relax HP filter. Higher = reacts faster (better for racing). Lower = smoother (better for large/slow builds). Typical ranges: Racing: 30–40, Freestyle 5": 15, 7"+: 10, X-Class: 3–5. If bounce-back or post-flip oscillation persists, step this down: 15→10→7→5.
iterm_windup	80	20–100 (profile)	Suppresses I accumulation (in %) when motors are near saturation. Default 80 is sensible.

Also see:

• PID tuning
• PID tuning guide

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Dynamic Damping (D-min / D-max)

Dynamically increases D on sharp moves while keeping it low during calm flight (to reduce motor heat and noise). Requires setting up both a floor D and a ceiling D — see version notes in the PID Gains section above.

Variable	Default	Range	Description
d_max_gain	37	0–100 (profile)	Controls how aggressively D rises from D_min floor toward D_max ceiling on sharp moves. Default is suitable; reduce if D boost causes propwash on move initiation.
d_max_advance	20	0–200 (profile)	Allows D boost to start before the gyro rate peaks, using feedforward signal. Set to 0 during baseline tuning — rarely beneficial and can cause premature D oscillation. Only explore once the baseline is stable.

Setup: Set d_roll = floor D (e.g. 15), d_max_roll = ceiling D (e.g. 30). Calm flight uses d_roll; sharp moves boost toward d_max_roll. Debug with set debug_mode = D_MAX.

Also see:

• PID tuning
• PID tuning guide
• D min

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Feed Forward

Feed forward adds a stick-input derivative term — it anticipates moves rather than reacting to error. Requires clean stick input; apply the appropriate RC link preset first.

Note: Feed forward is bypassed in angle mode. Test FF in acro/rate mode only.

Variable	Default	Range / Values	Description
feedforward_transition	0	0–100 (profile)	Blends FF toward zero near stick center. 0 = full FF throughout (racing). 40 = freestyle/HD. 70 = cinematic. Set to 0 when feedforward_jitter_factor is active — they serve overlapping purposes and must not be combined.
feedforward_averaging	2_POINT	OFF, 2_POINT, 3_POINT, 4_POINT (profile)	Averages stick input samples before FF calculation to smooth out RC link quantization. OFF = no averaging (snappiest); 4_POINT = heaviest smoothing.
feedforward_smooth_factor	65	0–95 (profile)	Additional smoothing applied to the FF signal. Higher = smoother FF output.
feedforward_jitter_factor	7	0–20 (profile)	Suppresses FF on very slow or jittery stick inputs. Higher = smoother center feel during slow moves (freestyle/HD). Lower = snappier (racing).
feedforward_boost	15	0–50 (profile)	Adds an acceleration component to FF (second derivative of stick). Increase if gyro lags at the start of a move. Decrease if gyro overshoots at move entry (bounce-back at start).
feedforward_max_rate_limit	90	0–200 (profile)	Reduces FF as sticks approach maximum deflection. 90 = cut FF when stick is at 90% travel. Raise to 92–95 for crisper move entry on responsive builds.
feedforward_yaw_hold_gain	15	0–100 (profile)	Sustains a residual FF signal in yaw after the stick is released, counteracting I-term under-yaw.
feedforward_yaw_hold_time	100	10–250 (profile)	Duration (ms) of the yaw FF hold after stick release.

Also see:

• Feed forward

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Simplified Tuning Sliders

When simplified tuning is active, these intermediate values drive the actual PID/filter gains. Use simplified_tuning apply in CLI to compute and write the raw values. simplified_tuning disable zeroes the simplified system and leaves the raw values in place for manual editing.

Variable	Default	Range	Description
simplified_pids_mode	RPY	OFF, RP, RPY (profile)	Which axes the simplified PID sliders control. RPY = all axes.
simplified_master_multiplier	100	0–200 (profile)	Master gain slider — scales all P, I, D and D_max together. Equivalent to PIDtoolbox "Master Multiplier". 100 = default gains.
simplified_pi_gain	100	0–200 (profile)	P and I scaling slider (relative to master).
simplified_d_gain	100	0–200 (profile)	D scaling slider.
simplified_d_max_gain	100	0–200 (profile)	D_max scaling slider (dynamic damping ceiling).
simplified_i_gain	100	0–200 (profile)	I scaling slider (independent of P).
simplified_feedforward_gain	100	0–200 (profile)	Feedforward scaling slider.
simplified_pitch_pi_gain	100	0–200 (profile)	Additional P and I multiplier for pitch only (relative compensation for pitch inertia).
simplified_pitch_d_gain	100	0–200 (profile)	Additional D multiplier for pitch only.
simplified_gyro_filter	ON	OFF, ON	Whether simplified slider controls gyro filter cutoffs.
simplified_gyro_filter_multiplier	100	10–200	Gyro filter cutoff scaling slider. 100 = current static values. Raise to reduce gyro filtering (faster).
simplified_dterm_filter	ON	OFF, ON (profile)	Whether simplified slider controls D-term filter cutoffs.
simplified_dterm_filter_multiplier	100	10–200 (profile)	D-term filter cutoff scaling slider.

Also see:

• PID tuning
• PID tuning guide

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TPA (Throttle PID Attenuation)

Attenuates PID gains at high throttle to counteract the increased responsiveness of motors at full power. Use only if oscillations appear at high throttle after filters and PIDs are otherwise tuned.

Variable	Default	Range / Values	Description
tpa_mode	D	PD, D, PDS (profile)	Which terms TPA attenuates. D = D only (default, safest). PD = P and D. PDS = P, D, and S-term.
tpa_rate	65	0–100 (profile)	Maximum attenuation percentage at full throttle. 65 = PIDs are at 35% above the breakpoint.
tpa_breakpoint	1350	1000–2000 (profile)	Throttle level (1000–2000 scale) where TPA begins. Attenuation is proportional from here to full throttle.
tpa_low_rate	20	−128–100 (profile)	D attenuation at minimum throttle (TPA Low). Reduces D-term shaking during throttle chops.
tpa_low_breakpoint	1050	1000–2000 (profile)	Throttle level below which TPA Low applies.
tpa_low_always	OFF	OFF, ON (profile)	OFF = TPA Low is only active before Airmode activates; ON = active throughout the flight.
tpa_curve_type	CLASSIC	CLASSIC, HYPERBOLIC (profile)	TPA curve shape. CLASSIC matches legacy TPA behaviour. HYPERBOLIC applies a hyperbolic attenuation curve. (Requires: USE_ADVANCED_TPA)
tpa_curve_expo	20	−100–100 (profile)	Expo applied to the TPA curve. Negative = more attenuation at low throttle; positive = more at high throttle. (Requires: USE_ADVANCED_TPA)
tpa_curve_pid_thr0	200	0–1000 (profile)	PID value (×0.1%) at zero throttle for the TPA curve. Default 200 = 20% of full PID at idle. (Requires: USE_ADVANCED_TPA)
tpa_curve_pid_thr100	70	0–1000 (profile)	PID value (×0.1%) at full throttle for the TPA curve. Default 70 = 7% of full PID at max throttle. (Requires: USE_ADVANCED_TPA)
tpa_curve_stall_throttle	30	0–100 (profile)	Throttle % below which the craft is considered stalled (for wing/fixed-wing TPA). (Requires: USE_ADVANCED_TPA)
tpa_speed_type	BASIC	BASIC, ADVANCED (profile)	Speed-based TPA. BASIC uses GPS-derived speed. ADVANCED uses a physics model based on motor/prop parameters. (Requires: USE_WING)
tpa_speed_basic_delay	1000	1–65535 (profile)	Delay (ms) before speed-based TPA updates after a speed change. Prevents rapid gain changes during maneuvers. (Requires: USE_WING)
tpa_speed_basic_gravity	50	1–65535 (profile)	Gravity factor for BASIC speed TPA. Affects TPA response curve vs airspeed. (Requires: USE_WING)
tpa_speed_max_voltage	2520	0–65535 (profile)	Maximum pack voltage (in mV×0.1) used to normalize motor speed in BASIC speed TPA. (Requires: USE_WING)
tpa_speed_pitch_offset	0	−32768–32767 (profile)	Pitch offset correction for speed TPA (wing/fixed-wing trim). (Requires: USE_WING)
tpa_speed_adv_drag_k	1000	1–65535 (profile)	Aerodynamic drag coefficient for ADVANCED speed TPA physics model. (Requires: USE_WING)
tpa_speed_adv_mass	1000	1–65535 (profile)	Craft mass (g×0.1) for ADVANCED speed TPA physics model. (Requires: USE_WING)
tpa_speed_adv_prop_pitch	370	0–65535 (profile)	Propeller pitch (mm) for ADVANCED speed TPA physics model. (Requires: USE_WING)
tpa_speed_adv_thrust	2000	1–65535 (profile)	Maximum thrust (g) for ADVANCED speed TPA physics model. (Requires: USE_WING)

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Rates

Betaflight 2025.12 defaults to the ACTUAL rates system. In ACTUAL: RC_Rate = degrees/sec at stick center, Expo = transition sharpness, Super Rate = max rate. In BETAFLIGHT legacy system: RC_Rate, Expo, and RC_Rate interact differently.

Variable	Default	Range	Description
rates_type	ACTUAL	BETAFLIGHT, RACEFLIGHT, KISS, ACTUAL, QUICK (rateprofile)	Rate calculation system. ACTUAL is the most intuitive (center sens and max rate are directly set).
roll_rc_rate	7	1–255 (rateprofile)	Roll rate at stick center in deg/s×10 (ACTUAL) or RC multiplier (legacy).
pitch_rc_rate	7	1–255 (rateprofile)	Pitch rate at stick center.
yaw_rc_rate	7	1–255 (rateprofile)	Yaw rate at stick center.
roll_expo	0	0–100 (rateprofile)	Roll expo — transition between center sensitivity and max rate. Higher = more expo, slower center, faster edges.
pitch_expo	0	0–100 (rateprofile)	Pitch expo.
yaw_expo	0	0–100 (rateprofile)	Yaw expo.
roll_srate	67	0–255 (rateprofile)	Roll super rate — max rate at full stick deflection (ACTUAL system).
pitch_srate	67	0–255 (rateprofile)	Pitch super rate.
yaw_srate	67	0–255 (rateprofile)	Yaw super rate.
quickrates_rc_expo	OFF	OFF, ON (rateprofile)	In QUICK rates mode, applies expo globally.
thr_mid	50	0–100 (rateprofile)	Throttle curve mid-point — sets the thrust at 50% stick.
thr_expo	0	0–100 (rateprofile)	Throttle expo.
thr_hover	50	0–100 (rateprofile)	Estimated hover throttle percentage. Used by alt-hold and some internal calculations.
throttle_limit_type	OFF	OFF, SCALE, CLIP (rateprofile)	Limits maximum throttle output. SCALE = proportionally scales all outputs; CLIP = hard ceiling.
throttle_limit_percent	100	25–100 (rateprofile)	Maximum throttle percentage when throttle_limit_type is active.
roll_rate_limit	1998	200–1998 (rateprofile)	Hard cap on roll rate in deg/s, applied after the rates curve.
pitch_rate_limit	1998	200–1998 (rateprofile)	Hard cap on pitch rate.
yaw_rate_limit	1998	200–1998 (rateprofile)	Hard cap on yaw rate.
yaw_control_reversed	OFF	OFF, ON	Reverses the direction of yaw stick.
fpv_mix_degrees	0	0–90	FPV camera tilt angle for tilt-compensated yaw mixing.

Also see:

• Profiles
• Rate Calculator

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Angle & Horizon Mode

Variable	Default	Range	Description
angle_p_gain	50	0–200 (profile)	P gain for angle mode self-leveling. Higher = stronger return to level.
angle_feedforward	50	0–200 (profile)	Feedforward in angle mode — reduces lag when moving the angle setpoint.
angle_feedforward_smoothing_ms	80	10–250 (profile)	Smoothing applied to angle feedforward signal.
angle_limit	60	10–80 (profile)	Maximum tilt angle in angle mode (degrees).
angle_earth_ref	100	0–100 (profile)	Proportion of earth-frame reference used in angle mode (0 = body frame, 100 = full earth frame). 100 is recommended for GPS rescue compatibility.
angle_pitch_offset	0	−450–450 (profile)	Pitch trim offset in tenths of degrees for angle mode. Use to adjust the level hover point without reflying. (Requires: USE_WING)
horizon_level_strength	75	0–100	Level mode strength at stick center in horizon mode.
horizon_limit_sticks	75	10–200	Stick deflection (%) at which horizon mode gives full acro authority.
horizon_limit_degrees	135	10–250	Maximum attitude angle before horizon mode enforces leveling.
acc_trim_pitch	0	−300–300	Accelerometer pitch trim for level calibration.
acc_trim_roll	0	−300–300	Accelerometer roll trim for level calibration.
acc_lpf_hz	25	0–500	Accelerometer low-pass filter cutoff. Smooths acc readings used for attitude estimation.
horizon_delay_ms	500	10–5000 (profile)	Time (ms) before horizon mode re-applies leveling after sticks return to center. Delays return-to-level for a more acro-like feel.
horizon_ignore_sticks	OFF	OFF, ON (profile)	When ON, horizon mode ignores stick input for the leveling transition — governed by horizon_delay_ms only.
level_race_mode	OFF	OFF, ON (profile)	When ON, angle mode holds the current angle as the setpoint rather than actively leveling. For racing use of angle mode.
landing_disarm_threshold	0	0–250 (profile)	Accelerometer impact threshold for auto-disarm on landing (used by GPS Rescue and EZ Landing). 0 = disabled.

Also see:

• Modes

---

Motor & ESC

Variable	Default	Range / Values	Description
motor_pwm_protocol	DSHOT600	PWM, ONESHOT125, ONESHOT42, MULTISHOT, BRUSHED, DSHOT150, DSHOT300, DSHOT600, PROSHOT1000, DISABLED	ESC communication protocol. DSHOT600 for ICM-42688P/MPU-6000 at 8kHz; DSHOT300 for BMI270 at 3.2kHz (DSHOT600 at 3.2kHz is marginal).
dshot_bidir	OFF	OFF, ON	Enables bidirectional DSHOT for RPM telemetry. Required for RPM filtering. ESC firmware must support it. (Requires: USE_DSHOT + USE_DSHOT_TELEMETRY)
dshot_burst	AUTO	OFF, ON, AUTO	DSHOT burst transmission mode. AUTO selects based on hardware capability. (Requires: USE_DSHOT + USE_DSHOT_DMAR)
dshot_edt	OFF	OFF, ON, FORCE	Extended DSHOT Telemetry — provides additional ESC data beyond RPM. FORCE enables EDT even when bidir is off. (Requires: USE_DSHOT + USE_DSHOT_TELEMETRY)
dshot_bitbang	AUTO	OFF, ON, AUTO	DSHOT bitbang implementation (software DSHOT). AUTO selects automatically. (Requires: USE_DSHOT + USE_DSHOT_BITBANG)
dshot_bitbang_timer	AUTO	AUTO, TIM1, TIM8	Timer used for bitbang DSHOT. (Requires: USE_DSHOT + USE_DSHOT_BITBANG)
motor_poles	14	4–255	Number of magnetic poles on the motor bell (magnet count, not stator count). Critical for RPM filter accuracy. Most 5" motors have 14 magnets; verify on your specific motors. Wrong value → filters tracking wrong frequencies.
motor_kv	1960	1–40000	Motor KV rating. Used in some internal calculations. Set to your actual motor KV for accurate RPM limit and dynamic idle features.
motor_idle	550	0–2000	Idle throttle value sent to ESCs when armed (units depend on protocol). Used as the minimum non-zero motor command.
min_command	1000	750–2250	PWM value sent to ESCs when disarmed or at zero throttle (for PWM-based protocols). For DSHOT, this is overridden by the protocol.
max_throttle	2000	750–2250	Maximum PWM value sent to ESCs (for PWM-based protocols).
motor_output_limit	100	1–100 (profile)	Caps per-motor output as a percentage. Use when running higher cell count than motors are rated for (e.g. 6S on a 4S build → set to ~66%).
motor_output_reordering	0,1,2,3,4,5,6,7	array	Reorders motor output channels without rewiring. Specify the output index for each motor position.
motor_pwm_rate	480	200–32000	PWM frequency for brushed motor mode. Not relevant for DSHOT protocols.
motor_pwm_inversion	OFF	OFF, ON	Invert PWM output polarity. For ESCs that require inverted signal.
use_unsynced_pwm	OFF	OFF, ON	Send motor PWM unsynchronised to the PID loop. Primarily for brushed motors.
thrust_linear	0	0–150 (profile)	Linearises the thrust curve at low throttle. Improves low-throttle authority and responsiveness, especially for whoops and 48kHz ESCs. 20–40% is typically enough; no effect above mid-throttle.
throttle_boost	5	0–100	Transiently boosts throttle output on fast throttle stick changes for immediate throttle feel.
throttle_boost_cutoff	15	5–50	LPF cutoff for throttle derivative used by throttle_boost.
yaw_motors_reversed	OFF	OFF, ON	Reverse yaw PID output sign. Use when motor spin direction is swapped from normal.
rpm_limit	OFF	OFF, ON	Enables per-motor RPM limit. (Requires: USE_RPM_LIMIT)
rpm_limit_value	18000	1–65535	Maximum motor RPM when rpm_limit is ON. (Requires: USE_RPM_LIMIT)
rpm_limit_p	25	0–100	P gain for RPM limiter controller. (Requires: USE_RPM_LIMIT)
rpm_limit_i	10	0–1000	I gain for RPM limiter controller. (Requires: USE_RPM_LIMIT)
rpm_limit_d	8	0–100	D gain for RPM limiter controller. (Requires: USE_RPM_LIMIT)
esc_sensor_current_offset	0	0–16000	Current offset applied to ESC sensor current reading in mA. Use to zero-calibrate ESC current reporting. (Requires: USE_ESC_SENSOR)
esc_sensor_halfduplex	OFF	OFF, ON	Enable half-duplex UART for ESC sensor (BLHeli32/AM32 telemetry on a single wire). (Requires: USE_ESC_SENSOR)
mixer_type	LEGACY	LEGACY, LINEAR, DYNAMIC, EZLANDING	Motor mixer output mode. LEGACY = classic mixer. LINEAR = linear output scaling. DYNAMIC = dynamic output scaling. EZLANDING = enables EZ Landing soft-landing feature.

Also see:

• ESC telemetry
• DShot RPM Filtering

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RPM Filter (Bidirectional DSHOT)

Requires bidirectional DSHOT (dshot_bidir = ON) and ESC firmware that supports it (BLHeli_32, AM32, BlueJay). Motor noise typically starts around 100 Hz and increases with throttle. Harmonics occur at 2× and 3× the fundamental.

Variable	Default	Range / Values	Description
rpm_filter_harmonics	3	0–3	Number of RPM harmonics to filter per motor. 3 = fundamental + 2nd + 3rd. 0 disables RPM filtering.
rpm_filter_weights	100,100,100	Array of 3, 0–100 each	Per-harmonic notch depth percentage. Tri-blade props: try 100,0,80 (2nd harmonic absent). Bi-blade: 100,80,0 or 100,50,0. Lower each as far as possible without motor noise appearing in filtered gyro.
rpm_filter_q	500	250–3000	Q factor (notch sharpness). Target 1000 on well-configured 5" builds — default 500 is a starting point, not a goal. Higher Q = narrower notch = less phase delay. Back off only if motor noise bleeds through.
rpm_filter_min_hz	100	30–200	Below this frequency, notches are not applied. Lower on larger quads with slower-spinning motors (7"+ reduce to 60–80 Hz).
rpm_filter_fade_range_hz	50	0–1000	Frequency band over which notches fade in at low throttle, reducing delay at idle.
rpm_filter_lpf_hz	150	100–500	Post-notch smoothing LPF applied to the RPM signal used for notch tracking.

Also see:

• PID tuning
• PID tuning guide
• DShot RPM Filtering

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Dynamic Idle

Prevents motor stall during flips/rolls and throttle chops. Any non-zero dyn_idle_min_rpm enables it. Always set transient_throttle_limit = 0 when enabling dynamic idle.

Variable	Default	Range	Description
pid_at_min_throttle	ON	OFF, ON	Keeps PIDs active at minimum throttle (idle). Required for airmode to function correctly; normally left ON.
dyn_idle_min_rpm	0	0–200 (profile)	Minimum motor RPM maintained by dynamic idle. Set non-zero to enable. Target by prop size.
dyn_idle_p_gain	50	1–250 (profile)	P gain of the dynamic idle RPM controller. Reduce if idle causes oscillation.
dyn_idle_i_gain	50	1–250 (profile)	I gain of the dynamic idle RPM controller.
dyn_idle_d_gain	50	0–250 (profile)	D gain of the dynamic idle RPM controller.
dyn_idle_max_increase	150	10–255 (profile)	Maximum throttle increase (in motor units) the dynamic idle controller can command above the static idle value.
transient_throttle_limit	0	0–30 (profile)	Limits rapid throttle-up transients. Must be set to 0 when dynamic idle is enabled. Non-zero values were used before dynamic idle existed. (Requires: USE_AIRMODE_LPF)

Also see:

• Dynamic Idle

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RC Input & Smoothing

Variable	Default	Range / Values	Description
serialrx_provider	CRSF	SPEK1024, SPEK2048, SBUS, SUMD, IBUS, JETIEXBUS, CRSF, SRXL, SRXL2, …	Serial RX protocol. Must match the receiver's output format.
serialrx_inverted	OFF	OFF, ON	Invert the serial RX signal. Required for some receivers on certain FC designs.
serialrx_halfduplex	OFF	OFF, ON	Use single-wire half-duplex UART for serial RX (some CRSF implementations).
sbus_baud_fast	OFF	OFF, ON	Enable fast (200kbps) SBUS mode. For SBUS receivers that support it.
crsf_use_negotiated_baud	OFF	OFF, ON	Allow CRSF to negotiate baud rate. Enable when using faster CRSF rates (e.g. ELRS negotiated speed).
rx_min_usec	885	750–2250	Shortest channel pulse width considered valid. Values below this trigger signal-loss detection (PPM/PWM).
rx_max_usec	2115	750–2250	Longest channel pulse width considered valid.
mid_rc	1500	1200–1700	RC mid-point. Match to your transmitter's stick center value. Futaba radios often need 1520.
min_check	1050	750–2250	RC channel value below which arm/disarm and stick commands are recognized.
max_check	1900	750–2250	RC channel value above which arm/disarm and stick commands are recognized.
deadband	0	0–32	RC deadband around stick center (microseconds). Increase if sticks don't return to exact center.
yaw_deadband	0	0–100	Yaw-specific deadband around center.
max_aux_channels	14	0–14	Maximum number of AUX channels processed.
rc_smoothing	ON	OFF, ON	Enables RC input interpolation and smoothing between received frames.
rc_smoothing_auto_factor	30	0–250	Auto-smoothing aggressiveness for setpoint channels. Higher = smoother but more lag. Preset applies the correct value for your RC link.
rc_smoothing_auto_factor_throttle	30	0–250	Auto-smoothing aggressiveness for throttle channel.
rc_smoothing_setpoint_cutoff	0	0–255	Manual setpoint smoothing cutoff. 0 = use auto.
rc_smoothing_throttle_cutoff	0	0–255	Manual throttle smoothing cutoff. 0 = use auto.
rc_smoothing_debug_axis	ROLL	ROLL, PITCH, YAW, THROTTLE	Which axis to expose in the RC smoothing debug fields (visible in blackbox when debug_mode = RC_SMOOTHING).
airmode_start_throttle_percent	25	0–100	Throttle percentage above which airmode activates. At higher values, motors begin to idle before airmode engages.
rssi_channel	0	0–18	AUX channel carrying RSSI signal. 0 = not using channel RSSI.
rssi_scale	100	1–255	Scales the RSSI input.
rssi_offset	0	−100–100	Offsets the RSSI reading.
rssi_invert	OFF	OFF, ON	Invert the RSSI signal (some receivers send inverted RSSI).
rssi_smoothing	125	0–255	LPF period for RSSI smoothing. Higher = smoother but slower response to signal changes.
rssi_src_frame_errors	OFF	OFF, ON	Derive RSSI from frame error rate (for receivers that do not report RSSI directly).
rssi_src_frame_lpf_period	30	0–255	LPF period for frame-error-based RSSI smoothing.
pid_in_tlm	OFF	OFF, ON	Include PID data in telemetry output (where supported by the telemetry protocol).
channel_forwarding_start	4	4–18	First AUX channel to forward to servo outputs (for channel forwarding to servos). (Requires: USE_SERVOS)
input_filtering_mode	OFF	OFF, ON	Enable hardware-level RC input filtering. Required on some F1 targets; leave OFF on modern hardware.

Also see:

• Controls
• Receivers (RX)
• RSSI
• Spektrum Bind Support

---

Battery & Current Sensing

Variable	Default	Range / Values	Description
battery_meter	ADC	NONE, ADC, ESC	Source for battery voltage reading. ADC = onboard voltage divider. ESC = from ESC telemetry.
battery_continue	OFF	OFF, ON	Continue logging/flying after battery disconnect/reconnect (for hot-swap builds). (Requires: USE_BATTERY_CONTINUE)
vbat_scale	110	0–255	Voltage divider calibration. Adjust until reported voltage matches a multimeter.
vbat_divider	10	1–255	Voltage divider ratio numerator.
vbat_multiplier	1	1–255	Voltage divider ratio multiplier.
vbat_detect_cell_voltage	300	0–2000	Voltage above which a battery is considered connected (×0.01V per cell).
force_battery_cell_count	0	0–24	Override auto cell-count detection. 0 = auto-detect from vbat_max_cell_voltage.
vbat_max_cell_voltage	430	100–500	Maximum per-cell voltage for auto cell-count detection (×0.01V). Default 430 = 4.30V.
vbat_full_cell_voltage	410	100–500	"Full" cell voltage for capacity display. Default 410 = 4.10V.
vbat_warning_cell_voltage	350	100–500	Warning threshold voltage per cell (×0.01V). Default 350 = 3.50V.
vbat_min_cell_voltage	330	100–500	Minimum cell voltage — triggers battery-critical alarm (×0.01V). Default 330 = 3.30V.
vbat_hysteresis	1	0–250	Hysteresis on voltage warnings to prevent flicker (×0.01V).
vbat_duration_for_warning	0	0–150	Consecutive tenths-of-seconds the voltage must remain below the warning threshold before the warning alarm fires. Prevents brief-spike false alarms.
vbat_duration_for_critical	0	0–150	Same as above but for the critical threshold.
vbat_display_lpf_period	30	1–255	LPF period for the voltage shown on the OSD (smooths display flickering). Does not affect alarm thresholds.
vbat_sag_lpf_period	2	1–255	LPF period for battery sag compensation voltage measurement. Lower = faster response to sag.
vbat_cutoff_percent	100	0–100	Percentage of vbat_sag_compensation to apply at critically low voltage.
vbat_sag_compensation	0	0–150 (profile)	Compensates for battery voltage sag to maintain consistent PID authority and throttle output across a pack. 90% is a good target — avoids stressing the pack at low voltage while still providing consistency. Requires cell voltage monitoring; configure a low-voltage OSD warning when enabled.
bat_capacity	0	0–20000	Battery capacity in mAh. Used with current meter to estimate remaining charge.
use_vbat_alerts	ON	OFF, ON	Enable voltage-based OSD/beeper warnings.
use_cbat_alerts	OFF	OFF, ON	Enable capacity-based OSD/beeper warnings.
cbat_alert_percent	10	0–100	Remaining capacity percentage to trigger a battery alert.
report_cell_voltage	OFF	OFF, ON	Report per-cell voltage (total / cell count) instead of pack voltage in telemetry.
current_meter	ADC	NONE, ADC, VIRTUAL, ESC, MSP	Current sensor source. ADC = onboard shunt. ESC = ESC telemetry current.
ibata_scale	558	−16000–16000	ADC current sensor scale factor (mV/A × 10). Calibrate against a known load.
ibata_offset	0	−32000–32000	ADC current sensor offset in millivolts.
ibatv_scale	0	−16000–16000	Virtual current sensor scale. (Requires: USE_VIRTUAL_CURRENT_METER)
ibatv_offset	0	0–16000	Virtual current sensor voltage offset. (Requires: USE_VIRTUAL_CURRENT_METER)
ibat_lpf_period	10	0–255	LPF period for the displayed current reading. Higher = smoother OSD current display.

Also see:

• Telemetry
• ESC telemetry
• Battery

---

Blackbox

Variable	Default	Range / Values	Description
blackbox_device	SPIFLASH	NONE, SPIFLASH, SDCARD, SERIAL	Logging destination. SPIFLASH = onboard flash. SDCARD = SD card. SERIAL = via serial port (high baud rate required).
blackbox_sample_rate	1/4	1/1, 1/2, 1/4, 1/8, 1/16	Fraction of gyro samples logged. Target: half the gyro update frequency, minimum 1kHz. At 8kHz gyro: use 1/8 → 1kHz. At 3.2kHz gyro: use 1/2 → 1.6kHz. Finer = larger logs.
blackbox_mode	NORMAL	NORMAL, MOTOR_TEST, ALWAYS	NORMAL = log only when armed. ALWAYS = log even when disarmed. MOTOR_TEST = motor test mode.
blackbox_high_resolution	OFF	OFF, ON	Double the data precision for gyro and setpoint fields. Increases log size.
blackbox_disable_pids	OFF	OFF, ON	Exclude PID data from logs. Reduces log size.
blackbox_disable_rc	OFF	OFF, ON	Exclude RC channel data from logs.
blackbox_disable_setpoint	OFF	OFF, ON	Exclude setpoint data.
blackbox_disable_bat	OFF	OFF, ON	Exclude battery data.
blackbox_disable_alt	OFF	OFF, ON	Exclude altitude data.
blackbox_disable_rssi	OFF	OFF, ON	Exclude RSSI data.
blackbox_disable_gyro	OFF	OFF, ON	Exclude filtered gyro data.
blackbox_disable_gyrounfilt	OFF	OFF, ON	Exclude unfiltered gyro data.
blackbox_disable_acc	OFF	OFF, ON	Exclude accelerometer data.
blackbox_disable_debug	OFF	OFF, ON	Exclude debug fields.
blackbox_disable_motors	OFF	OFF, ON	Exclude motor output data.
blackbox_disable_rpm	OFF	OFF, ON	Exclude RPM telemetry data. (Requires: USE_DSHOT_TELEMETRY)
blackbox_disable_gps	OFF	OFF, ON	Exclude GPS data. (Requires: USE_GPS)
blackbox_disable_attitude	OFF	OFF, ON	Exclude attitude (roll/pitch/yaw angle) data from logs.
blackbox_disable_servos	OFF	OFF, ON	Exclude servo output data from logs. (Requires: USE_SERVOS)

Also see:

• Blackbox

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Failsafe

Always use FC-based failsafe (configure receiver to send no data on signal loss — not fixed values). Receiver-based failsafe is not recommended; the FC cannot detect it.

Variable	Default	Range / Values	Description
failsafe_procedure	DROP	AUTO-LAND, DROP, GPS-RESCUE	Stage 2 procedure. DROP = immediate motor cut and disarm (default, safest for racing). AUTO-LAND = fixed throttle + centered sticks for failsafe_landing_time then disarm. GPS-RESCUE = autonomous return-to-home.
failsafe_delay	15 (1.5 s)	1–200 (deciseconds)	Stage 1 guard duration — time from confirmed signal loss to Stage 2 activation. Default 15 = 1.5 s. Minimum safe value is 2 (200 ms).
failsafe_landing_time	60 (6 s)	0–250 (deciseconds)	Duration of Landing Mode (AUTO-LAND) Stage 2.
failsafe_throttle	1000	750–2250	Throttle value applied during Landing Mode Stage 2 AND used as the Stage 1 fallback throttle if configured. Default 1000 = motors off. For GPS Rescue: must be set to a hover throttle value, or the quad drops in Stage 1 before Rescue can activate.
failsafe_switch_mode	STAGE1	STAGE1, KILL, STAGE2	Aux switch behavior: STAGE1 = simulates signal loss (useful for testing and as a panic switch), STAGE2 = skips Stage 1 (instant GPS rescue / drop), KILL = instant disarm (dangerous, any glitch crashes the quad).
failsafe_recovery_delay	5 (0.5 s)	1–200 (deciseconds)	Duration the signal must be stable after Stage 2 before the pilot can re-arm or (for GPS Rescue) before stick inputs are assessed.
failsafe_stick_threshold	30	0–50	Stick deflection (degrees from center) required to exit GPS Rescue Stage 2 after signal recovery. Move sticks to this threshold once video returns and RXLOSS clears.
failsafe_throttle_low_delay	100 (10 s)	0–300 (deciseconds)	If throttle has been low for this duration before Stage 2 triggers, the FC immediately disarms instead of activating Landing Mode (the "Just Drop" override). Protects pilots who power off their transmitter after landing without disarming.

Also see:

• Failsafe

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GPS Rescue

Prerequisites: GPS module (UBlox M8N minimum, M10 recommended), calibrated accelerometer, verified angle mode leveling, minimum satellites before arming, home point established before flight.

Variable	Default	Range / Values	Description
gps_rescue_initial_climb	10	0–100 m	Altitude to climb from current position before heading home. Set high enough to clear local obstacles.
gps_rescue_return_alt	30	0–150 m	Target return cruise altitude. If the quad is already above this, it maintains current altitude.
gps_rescue_alt_mode	MAX_ALT	MAX_ALT, FIXED_ALT, CURRENT_ALT	MAX_ALT = use the higher of gps_rescue_initial_climb or max altitude recorded + 15 m. FIXED_ALT = always return to gps_rescue_initial_climb. CURRENT_ALT = hold current altitude (not recommended).
gps_rescue_ascend_rate	750	100–2500 cm/s	Climb rate during initial climb phase.
gps_rescue_descend_rate	150	100–500 cm/s	Descent rate when approaching home.
gps_rescue_ground_speed	750	10–3000 cm/s	Forward speed during return (cm/s). 750 ≈ 27 km/h. Reduce for reliability in windy conditions.
gps_rescue_max_angle	45	0–60 deg	Maximum tilt angle allowed during return. Higher allows faster flight but makes altitude control harder. Raise for headwinds.
gps_rescue_descent_dist	20	5–200 m	Distance from home at which descent begins.
gps_rescue_min_start_dist	15	10–3000 m	Minimum distance from home to activate rescue. Closer than this → disarm and drop (prevents accidental rescue activation nearby).
gps_rescue_min_sats	8	5–50	Minimum satellite count required to arm with GPS rescue configured. OSD shows RESCUE N/A if below this.
gps_rescue_sanity_checks	RESCUE_SANITY_FS_ONLY	RESCUE_SANITY_ON, RESCUE_SANITY_FS_ONLY, OFF	Strongly recommended: RESCUE_SANITY_ON. Aborts rescue (disarms) if: GPS lost, fix invalid, quad crashed, sat count drops, or quad not approaching home.
gps_rescue_allow_arming_without_fix	OFF	OFF, ON	Allow arming without a GPS fix. GPS rescue is unavailable during such a flight — OSD shows RESCUE OFF.
gps_rescue_use_mag	ON	OFF, ON	Use magnetometer for heading during rescue. Only enable if the mag reading has been verified accurate (compare with phone compass; both must agree within 10°). An incorrect mag causes flyaways. (Requires: USE_GPS + USE_GPS_RESCUE + USE_MAG)
gps_rescue_velocity_p	8	0–250	Velocity controller P gain (forward speed regulation).
gps_rescue_velocity_i	40	0–250	Velocity controller I gain.
gps_rescue_velocity_d	12	0–250	Velocity controller D gain.
gps_rescue_yaw_p	20	0–250	Yaw P gain during rescue (heading correction).
gps_rescue_imu_yaw_gain	10	0–250	Aggressiveness of IMU heading correction during rescue. Reduce if heading oscillates.
gps_rescue_roll_mix	150	0–250	Mix of roll vs yaw for lateral correction during approach.
gps_rescue_pitch_cutoff	75	10–250	Smoothing cutoff for pitch D term during rescue.
gps_rescue_disarm_threshold	20	0–100	Impact detection threshold for auto-disarm on landing. Lower = more sensitive.

Also see:

• GPS
• GPS Rescue

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GPS Settings

Variable	Default	Range / Values	Description
gps_provider	UBLOX	NMEA, UBLOX, MSP, VIRTUAL	GPS protocol. Prefer UBLOX for UBlox modules — significantly more reliable than NMEA.
gps_auto_config	ON	OFF, ON	Automatically configure UBlox modules on connection (baud rate, update rate, message types). Leave ON unless you pre-configure the module with uCenter.
gps_auto_baud	OFF	OFF, ON	Automatically detect GPS baud rate.
gps_update_rate_hz	10	1–20	Target GPS update rate. 10 Hz recommended for GPS rescue. Reduce to 1–2 Hz if not using GPS rescue (reduces CPU load, may allow 8k8k on some boards).
gps_sbas_mode	NONE	AUTO, EGNOS, WAAS, MSAS, GAGAN, NONE	SBAS (satellite correction) system for the region.
gps_ublox_use_galileo	OFF	OFF, ON	Enable Galileo constellation on UBlox modules.
gps_ublox_acquire_model	STATIONARY	PORTABLE, STATIONARY, PEDESTRIAN, AUTOMOTIVE, AT_SEA, AIRBORNE_1G, AIRBORNE_2G, AIRBORNE_4G	UBlox dynamic model used while acquiring fix.
gps_ublox_flight_model	AIRBORNE_4G	PORTABLE, STATIONARY, PEDESTRIAN, AUTOMOTIVE, AT_SEA, AIRBORNE_1G, AIRBORNE_2G, AIRBORNE_4G	UBlox dynamic model used during flight. AIRBORNE_4G handles high-dynamics FPV.
gps_set_home_point_once	OFF	OFF, ON	Only set the home point on the first arm after battery connect. Prevents home being reset if you disarm and re-arm mid-field.
gps_use_3d_speed	OFF	OFF, ON	Use 3D speed (including vertical) for GPS speed display.
gps_sbas_integrity	OFF	OFF, ON	Require SBAS integrity data before using SBAS corrections.
gps_nmea_custom_commands	—	string (1–64)	Custom NMEA sentences to send to the GPS module on init (NMEA provider only).
gps_ublox_utc_standard	AUTO	AUTO, USNO, EU, SU, NTSC	UTC time standard to configure on UBlox modules.

Also see:

• GPS

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System & Debug

Variable	Default	Range / Values	Description
debug_mode	NONE	NONE, GYRO_SCALED, FFT, FFT_TIME, FFT_FREQ, GYRO_FILTERED, D_MAX, DYN_IDLE, ITERM_RELAX, FEEDFORWARD, RC_SMOOTHING, DSHOT_RPM_TELEMETRY, RPM_FILTER, GPS_RESCUE_VELOCITY, GPS_RESCUE_HEADING, FAILSAFE, … (many more)	Select which internal signals are exposed in blackbox debug fields. Key modes: FFT_FREQ (filter frequency analysis), FFT_TIME (FFT time-domain), FFT (general FFT), GYRO_SCALED (raw gyro, filter tuning), D_MAX (dynamic damping), DYN_IDLE (dynamic idle), ITERM_RELAX (I-term relax), FEEDFORWARD (FF signals), FAILSAFE (failsafe state).
task_statistics	ON	OFF, ON	Enables CPU task profiling visible via tasks CLI command. Turn OFF to reduce overhead on heavily loaded systems.
cpu_overclock	OFF	OFF, 192MHZ, 216MHZ, 240MHZ	Overclock the STM32 F7 processor. Use only if CPU load is too high and the board supports it.
pwr_on_arm_grace	5	0–30 s	Grace period after power-on during which arming is blocked (prevents arming before receiver binds).
serial_update_rate_hz	100	100–2000	Rate at which MSP/CLI serial output is processed.
reboot_character	82	48–126	ASCII character that triggers a reboot when sent to the FC (default: 'R').
scheduler_relax_rx	25	0–500 μs	Scheduler relaxation time for RX task. Controls how much other tasks can run during RX processing.
scheduler_relax_osd	25	0–500 μs	Scheduler relaxation time for OSD task.
align_board_roll	0	−180–360	Board rotation offset in roll (degrees). For non-standard FC mounting orientations.
align_board_pitch	0	−180–360	Board rotation offset in pitch.
align_board_yaw	45	−180–360	Board rotation offset in yaw (degrees). For non-standard FC mounting orientations.
mag_declination	0	−18000–18000 (hundredths of degrees)	Magnetic declination correction for your location. Find at ngdc.noaa.gov/geomag/calculators. (Requires: USE_MAG)
rate_6pos_switch	OFF	OFF, ON	Enable 6-position rate profile selection via an AUX channel.
enable_stick_arming	OFF	OFF, ON	Enable stick-combination arming (throttle-down/yaw-right). Disable if using a dedicated arm switch.
runaway_takeoff_prevention	ON	OFF, ON	Detects uncommanded throttle-up on arm and disarms to prevent injury.
runaway_takeoff_deactivate_delay	500	100–1000 ms	Time after arming before runaway takeoff protection stops monitoring.
runaway_takeoff_deactivate_throttle_percent	20	0–100	Throttle percentage above which the pilot's intent is clear and runaway protection deactivates.
cpu_late_limit_permille	10	0–100	CPU late task limit in permille (per-thousand). Controls scheduler behaviour when tasks are running late. (Requires: USE_LATE_TASK_STATISTICS)
scheduler_debug_task	0	0–36	Task index to expose in scheduler debug output. Used for per-task timing analysis.
mco2_on_pc9	OFF	OFF, ON	Output MCO2 clock signal on PC9 pin (STM32 specific). Advanced hardware debugging only.
system_hse_mhz	0	0–30	External crystal frequency in MHz. Set to 0 for auto-detect. Required for some non-standard clock speeds.

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Board & Hardware

Variable	Default	Range / Values	Description
acc_hardware	AUTO	AUTO, NONE, MPU6050, MPU6000, MPU6500, … (see get acc_hardware for full list)	Force accelerometer driver or AUTO-detect.
baro_hardware	AUTO	AUTO, NONE, BMP085, MS5611, BMP280, BMP388, DPS310, …	Force barometer driver or AUTO-detect. (Requires: USE_BARO)
baro_bustype	SPI	NONE, I2C, SPI, SLAVE	Barometer bus type. (Requires: USE_BARO)
baro_spi_device	2	0–5	SPI bus number for barometer. (Requires: USE_BARO)
baro_i2c_device	0	0–5	I2C bus number for barometer (0 = default). (Requires: USE_BARO)
baro_i2c_address	0	0–119	I2C address override for barometer (0 = default auto-detect). (Requires: USE_BARO)
mag_hardware	NONE	NONE, AUTO, HMC5883, QMC5883, …	Magnetometer hardware selection. NONE = disabled. (Requires: USE_MAG)
align_mag	DEFAULT	DEFAULT, CW0, CW90, CW180, CW270, CW0FLIP, …	Magnetometer orientation. (Requires: USE_MAG)
altitude_source	DEFAULT	DEFAULT, BARO_ONLY, GPS_ONLY	Override altitude data source for autopilot and OSD altitude display.
altitude_prefer_baro	100	0–100	Weight given to barometer vs GPS altitude when both are available (0 = GPS only, 100 = baro only).
altitude_lpf	300	10–1000	Low-pass filter cutoff (Hz×10) for altitude estimate. Lower = smoother but laggier altitude.
altitude_d_lpf	100	10–1000	Low-pass filter cutoff (Hz×10) for altitude derivative (vertical speed).
adc_device	2	0–3	ADC device used for voltage/current sensing.
adc_tempsensor_calibration30	0	0–2000	ADC temperature sensor calibration value at 30°C (factory calibration).
adc_tempsensor_calibration110	0	0–2000	ADC temperature sensor calibration value at 110°C (factory calibration).
adc_vrefint_calibration	0	0–2000	ADC internal voltage reference calibration (factory).
flash_spi_bus	3	0–3	SPI bus number for onboard flash (blackbox storage). (Requires: USE_FLASH_SPI)
i2c1_clockspeed_khz	800	100–1300	I2C bus 1 clock speed in kHz. (Requires: USE_I2C_DEVICE_1)
i2c1_pullup	OFF	OFF, ON	Enable internal pull-up resistors on I2C bus 1. (Requires: USE_I2C_DEVICE_1)
i2c2_clockspeed_khz	800	100–1300	I2C bus 2 clock speed in kHz. (Requires: USE_I2C_DEVICE_2)
i2c2_pullup	OFF	OFF, ON	Enable internal pull-up resistors on I2C bus 2. (Requires: USE_I2C_DEVICE_2)
i2c3_clockspeed_khz	800	100–1300	I2C bus 3 clock speed in kHz. (Requires: USE_I2C_DEVICE_3)
i2c3_pullup	OFF	OFF, ON	Enable internal pull-up resistors on I2C bus 3. (Requires: USE_I2C_DEVICE_3)
usb_hid_cdc	OFF	OFF, ON	Use USB HID (combined HID + CDC) instead of pure CDC. Required for some OTG hosts.
usb_msc_pin_pullup	ON	OFF, ON	Enable pull-up on USB MSC detect pin.
pinio_box	255,255,255,255	Array of 4	AUX box assignments for the 4 PINIO outputs (255 = disabled).
pinio_config	1,1,1,1	Array of 4	PINIO output configuration (active-high/low, open-drain, etc.).
serialmsp_halfduplex	OFF	OFF, ON	Enable half-duplex operation on MSP serial ports.

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Identity & Profile Names

Variable	Default	Range / Values	Description
craft_name	—	string (1–16)	Display name of the craft shown in OSD and Configurator.
pilot_name	—	string (1–16)	Pilot name shown in OSD.
profile_name	—	string (1–8, per profile)	Name for the active PID profile. Shown in OSD profile display.
rateprofile_name	—	string (1–8, per rateprofile)	Name for the active rate profile.
box_user_1_name	—	string (1–16)	Name for user-defined AUX box 1 (USER1).
box_user_2_name	—	string (1–16)	Name for user-defined AUX box 2 (USER2).
box_user_3_name	—	string (1–16)	Name for user-defined AUX box 3 (USER3).
box_user_4_name	—	string (1–16)	Name for user-defined AUX box 4 (USER4).
auto_profile_cell_count	0 (per profile)	-1–8	Automatically activate this PID profile when the detected cell count matches. 0 = disabled. -1 = match any.

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Crash Recovery

Crash recovery detects an uncontrolled crash and attempts to recover. Disabled by default.

Variable	Default	Range / Values	Description
crash_recovery	OFF (per profile)	OFF, ON, BEEP, DISARM	Enable crash recovery. BEEP = recover and beep; DISARM = recover then disarm.
crash_delay	0 (per profile)	0–500 ms	Delay after arm before crash detection is armed.
crash_time	500 (per profile)	100–5000 ms	Minimum crash duration before recovery triggers.
crash_dthreshold	50 (per profile)	10–2000	D-term threshold above which crash is detected (deg/s2).
crash_gthreshold	400 (per profile)	100–2000	Gyro rate threshold for crash detection (deg/s).
crash_setpoint_threshold	350 (per profile)	50–2000	Setpoint threshold for crash detection.
crash_limit_yaw	200 (per profile)	0–1000	Yaw rate limit during crash recovery (deg/s).
crash_recovery_angle	10 (per profile)	5–30 deg	Maximum recovery correction angle (degrees).
crash_recovery_rate	100 (per profile)	50–255 deg/s	Rate at which the FC tries to recover from a crash.
crashflip_motor_percent	0	0–100	Motor output percentage during crash flip / turtle mode. 0 = full power.
crashflip_rate	0	0–250	Rotation rate limit during crash flip mode (degrees/s). 0 = unlimited.
crashflip_auto_rearm	OFF	OFF, ON	Automatically re-arm after a successful crash flip recovery.

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EZ Landing

EZ Landing provides a simple automatic landing assist that gradually reduces throttle as the craft descends.

Variable	Default	Range / Values	Description
ez_landing_threshold	25 (per profile)	0–200	Throttle percentage below which EZ landing activates.
ez_landing_limit	15 (per profile)	0–75	Minimum throttle floor enforced by EZ landing (%).
ez_landing_speed	50 (per profile)	0–250	Rate at which throttle is reduced during EZ landing.

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SPA — Setpoint Process Attenuation

SPA reduces P and D gains based on the magnitude of the setpoint (stick input), preventing oscillations during fast flips while maintaining full authority at stick centre. Profile-scoped.

Variable	Default	Range / Values	Description
spa_roll_mode	OFF (per profile)	OFF, I_FREEZE, I, PID, PD_I_FREEZE	SPA mode for roll. I = scale I term; PID = scale all terms; PD_I_FREEZE = scale P and D, freeze I. (Requires: USE_WING)
spa_roll_center	0 (per profile)	0–65535	Setpoint centre value at which no attenuation is applied (roll). (Requires: USE_WING)
spa_roll_width	0 (per profile)	0–65535	Setpoint range over which attenuation ramps from 0 to full (roll). (Requires: USE_WING)
spa_pitch_mode	OFF (per profile)	OFF, I_FREEZE, I, PID, PD_I_FREEZE	SPA mode for pitch. (Requires: USE_WING)
spa_pitch_center	0 (per profile)	0–65535	Setpoint centre value for pitch SPA. (Requires: USE_WING)
spa_pitch_width	0 (per profile)	0–65535	Setpoint width for pitch SPA attenuation ramp. (Requires: USE_WING)
spa_yaw_mode	OFF (per profile)	OFF, I_FREEZE, I, PID, PD_I_FREEZE	SPA mode for yaw. (Requires: USE_WING)
spa_yaw_center	0 (per profile)	0–65535	Setpoint centre value for yaw SPA. (Requires: USE_WING)
spa_yaw_width	0 (per profile)	0–65535	Setpoint width for yaw SPA attenuation ramp. (Requires: USE_WING)

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Beeper

Variable	Default	Range / Values	Description
beeper_inversion	OFF	OFF, ON	Invert beeper signal (active-low vs active-high). (Requires: USE_BEEPER)
beeper_od	ON	OFF, ON	Open-drain beeper output mode. ON = open-drain (requires external pull-up). (Requires: USE_BEEPER)
beeper_frequency	0	0–16000 Hz	PWM frequency for brushless beeper. 0 = use default ESC beep tone. (Requires: USE_BEEPER)
beeper_dshot_beacon_tone	1	1–5	DSHOT ESC beacon tone index for motor-based beeper (arming/lost model). (Requires: USE_BEEPER + USE_DSHOT)

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VTX (Video Transmitter)

Variable	Default	Range / Values	Description
vtx_band	0	0–8	VTX frequency band (0 = unset/use vtx_freq).
vtx_channel	0	0–8	VTX channel within the selected band.
vtx_freq	0	0–5999 MHz	VTX frequency in MHz. Used when vtx_band = 0.
vtx_power	0	0–7	VTX power level index (0 = minimum). Actual power depends on VTX table.
vtx_low_power_disarm	OFF	OFF, ON, UNTIL_FIRST_ARM	Switch to lowest power level when disarmed. UNTIL_FIRST_ARM = low power until first arm after connect.
vtx_pit_mode_freq	0	0–5999 MHz	Frequency to use in pit mode.
vtx_halfduplex	ON	OFF, ON	VTX communication in half-duplex (SmartAudio/Tramp).
vtx_softserial_alt	OFF	OFF, ON	Use alternate pin assignment for soft-serial VTX.
vtx_spi_bus	0	0–3	SPI bus for SPI-connected VTX (e.g. RTC6705).
vcd_video_system	HD	AUTO, PAL, NTSC, HD	OSD video format. HD = digital systems (DJI, Walksnail, HDZero). AUTO detects analog.
vcd_h_offset	0	-32–31	Horizontal offset for analog OSD character rendering.
vcd_v_offset	0	-15–16	Vertical offset for analog OSD character rendering.

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LED Strip

Variable	Default	Range / Values	Description
led_inversion	0	0–7 (bitmask)	Invert LED strip output signals (bitmask per-channel).
ledstrip_profile	STATUS	RACE, BEACON, STATUS	LED strip operating mode. STATUS = function-based; RACE = fixed color; BEACON = flashing beacon.
ledstrip_race_color	ORANGE	BLACK, WHITE, RED, ORANGE, YELLOW, LIME_GREEN, GREEN, MINT_GREEN, CYAN, LIGHT_BLUE, BLUE, DARK_VIOLET, MAGENTA, DEEP_PINK	Solid color used in RACE profile.
ledstrip_beacon_color	WHITE	(same color list)	Color used for beacon flashes.
ledstrip_beacon_period_ms	500	50–10000 ms	Beacon flash period in milliseconds.
ledstrip_beacon_percent	50	0–100	Duty cycle (on-time percentage) of the beacon flash.
ledstrip_beacon_armed_only	OFF	OFF, ON	Only activate beacon when armed.
ledstrip_visual_beeper	OFF	OFF, ON	Flash LEDs in sync with the beeper (visual alert).
ledstrip_visual_beeper_color	WHITE	(same color list)	Color used for visual beeper flashes.
ledstrip_grb_rgb	GRB	GRB, RGB, GRBW	LED strip color byte order. GRB is standard WS2812B; GRBW for RGBW strips.
ledstrip_brightness	100	5–100	Global brightness percentage for all LED modes.
ledstrip_rainbow_delta	0	0–359	Hue offset between consecutive LEDs in rainbow mode.
ledstrip_rainbow_freq	120	1–2000	Rainbow animation speed (updates/second).

Also see:

• LED Strip

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Displayport & OSD Hardware

Variable	Default	Range / Values	Description
displayport_max7456_blk	0	0–3	MAX7456 black level (0 = darkest).
displayport_max7456_wht	2	0–3	MAX7456 white level (2 = standard).
displayport_max7456_inv	OFF	OFF, ON	Invert MAX7456 video output.
displayport_max7456_row_adjust	0	-3–0	Row offset adjustment for MAX7456 character display.
displayport_max7456_col_adjust	0	-6–0	Column offset adjustment for MAX7456 character display.
displayport_msp_row_adjust	0	-3–0	Row offset for MSP displayport (DJI/HD OSD).
displayport_msp_col_adjust	0	-6–0	Column offset for MSP displayport.
displayport_msp_fonts	0,1,2,3	Array of 4	Font indices for the 4 OSD profiles on MSP displayport systems.
displayport_msp_use_device_blink	OFF	OFF, ON	Use device-native blink for MSP OSD elements (DJI).
max7456_spi_bus	2	0–3	SPI bus for MAX7456 OSD chip.
max7456_clock	NOMINAL	HALF, NOMINAL, DOUBLE	MAX7456 SPI clock speed. Use HALF if video glitches occur.
max7456_preinit_opu	OFF	OFF, ON	Pre-initialize MAX7456 OSD pixel output before flight.
dashboard_i2c_bus	0	0–3	I2C bus for OLED dashboard display.
dashboard_i2c_addr	60	8–119	I2C address for OLED dashboard (default 0x3C = 60).

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OSD

OSD position variables encode the x/y position and enabled state in a single 16-bit value (bit 11 = enabled, bits 5–0 = column, bits 10–6 = row). Default 341 = disabled (bit pattern 0b0000000101010101). Use Betaflight Configurator OSD tab to set positions visually.

OSD Settings

Variable	Default	Range / Values	Description
osd_displayport_device	MSP	NONE, AUTO, MAX7456, MSP, FRSKYOSD	OSD output device. MSP = digital HD systems (DJI, Walksnail, HDZero). MAX7456 = analog OSD chip.
osd_units	METRIC	IMPERIAL, METRIC, BRITISH	Unit system for OSD values (speed, distance, altitude).
osd_framerate_hz	12	1–60 Hz	OSD update rate. Higher = smoother but more CPU load.
osd_profile	1	1–3	Active OSD profile (layout). Switch profiles via AUX channel.
osd_profile_1_name	—	string (1–16)	Name for OSD profile 1.
osd_profile_2_name	—	string (1–16)	Name for OSD profile 2.
osd_profile_3_name	—	string (1–16)	Name for OSD profile 3.
osd_use_quick_menu	ON	OFF, ON	Enable quick-access OSD menu (single-click).
osd_menu_background	TRANSPARENT	TRANSPARENT, BLACK, GRAY, LIGHT_GRAY	OSD menu background style.
osd_arming_logo	0	0–3	Logo displayed on arm. 0 = Betaflight logo.
osd_craftname_msgs	OFF	OFF, ON	Show craft name messages in OSD.
osd_logo_on_arming	OFF	OFF, ON, FIRST_ARMING	Display logo animation on arm. FIRST_ARMING = only on first arm after connect.
osd_logo_on_arming_duration	5	5–50 (x0.1s)	Duration of arming logo animation.
osd_show_spec_prearm	OFF	OFF, ON	Show motor specs in pre-arm screen.

OSD Alarms

Variable	Default	Range / Values	Description
osd_rssi_alarm	20	0–100 %	RSSI alarm threshold (%). Alert when RSSI drops below this.
osd_rssi_dbm_alarm	-60	-130–0 dBm	RSSI dBm alarm threshold.
osd_rsnr_alarm	4	-30–20 dB	RSNR (RF signal-to-noise ratio) alarm threshold.
osd_link_quality_alarm	80	0–100 %	Link quality alarm threshold (ELRS/CRSF).
osd_alt_alarm	100	0–10000 m	Altitude alarm threshold.
osd_cap_alarm	2200	0–20000 mAh	Battery capacity consumed alarm threshold.
osd_distance_alarm	0	0–65535 m	Distance from home alarm (0 = disabled).
osd_esc_rpm_alarm	-1	-1–32767 RPM	ESC RPM alarm (-1 = disabled).
osd_esc_current_alarm	-1	-1–32767 A	ESC current alarm (-1 = disabled).
osd_esc_temp_alarm	0	0–255 C	ESC temperature alarm.
osd_core_temp_alarm	70	0–255 C	FC core temperature alarm.
osd_stat_bitmask	1879062316	0–4294967295	Bitmask of statistics shown on post-flight stats screen.
osd_stat_avg_cell_value	OFF	OFF, ON	Show average cell voltage (vs total pack) in post-flight stats.
osd_warn_bitmask	397311	0–4294967295	Bitmask of OSD warnings enabled (ARMING, FAIL_SAFE, BATTERY_WARNING, etc.).

OSD Timer Configuration

Variable	Default	Range / Values	Description
osd_tim1	2560	0–32767	Timer 1 configuration (source and precision encoded).
osd_tim2	2561	0–32767	Timer 2 configuration.

OSD Auxiliary & Camera

Variable	Default	Range / Values	Description
osd_aux_channel	1	1–18	RC channel to display as auxiliary OSD value.
osd_aux_scale	200	1–1000	Scale factor for AUX channel display.
osd_aux_symbol	65	ASCII code	Symbol character used for AUX display (65 = A).
osd_rcchannels	-1,-1,-1,-1	Array of 4 (channel 1–18 or -1)	RC channels to display in OSD RC channels element (-1 = disabled).
osd_stick_overlay_radio_mode	2	1–4	Radio mode for stick overlay display (Mode 1–4).
osd_camera_frame_width	24	2–30	Camera frame overlay width in characters.
osd_camera_frame_height	11	2–16	Camera frame overlay height in characters.
osd_gps_sats_show_pdop	OFF	OFF, ON	Show PDOP (position dilution of precision) next to sat count.
osd_ah_invert	OFF	OFF, ON	Invert artificial horizon direction.
osd_ah_max_pit	20	0–90 deg	Maximum pitch shown on artificial horizon (degrees).
osd_ah_max_rol	40	0–90 deg	Maximum roll shown on artificial horizon (degrees).

OSD Position Variables (all default 341 = disabled, range 0–65535)

Variable	Description
osd_rssi_pos	RSSI (%)
osd_rssi_dbm_pos	RSSI dBm
osd_rsnr_pos	RSNR
osd_link_quality_pos	Link quality
osd_link_tx_power_pos	TX power
osd_vbat_pos	Battery voltage
osd_avg_cell_voltage_pos	Average cell voltage
osd_current_pos	Current draw
osd_power_pos	Power (watts)
osd_mah_drawn_pos	mAh consumed
osd_wh_drawn_pos	Wh consumed
osd_battery_usage_pos	Battery usage bar
osd_remaining_time_estimate_pos	Estimated remaining flight time
osd_efficiency_pos	Flight efficiency (mAh/km)
osd_altitude_pos	Altitude
osd_nvario_pos	Vertical speed (vario)
osd_nheading_pos	Compass heading
osd_compass_bar_pos	Compass bar
osd_gps_speed_pos	GPS speed
osd_gps_sats_pos	GPS satellite count
osd_gps_lat_pos	GPS latitude
osd_gps_lon_pos	GPS longitude
osd_home_dist_pos	Distance to home
osd_home_dir_pos	Direction to home
osd_flight_dist_pos	Total flight distance
osd_lidar_dist_pos	Lidar distance
osd_throttle_pos	Throttle percentage
osd_flymode_pos	Flight mode
osd_disarmed_pos	DISARMED indicator
osd_ready_mode_pos	Ready mode indicator
osd_crosshairs_pos	Crosshairs
osd_ah_pos	Artificial horizon
osd_ah_sbar_pos	AH sidebars
osd_up_down_reference_pos	Up/down reference
osd_pit_ang_pos	Pitch angle
osd_rol_ang_pos	Roll angle
osd_g_force_pos	G-force
osd_tim_1_pos	Timer 1
osd_tim_2_pos	Timer 2
osd_craft_name_pos	Craft name
osd_pilot_name_pos	Pilot name
osd_pid_roll_pos	Roll PID values
osd_pid_pitch_pos	Pitch PID values
osd_pid_yaw_pos	Yaw PID values
osd_pidrate_profile_pos	PID/rate profile indicator
osd_pid_profile_name_pos	PID profile name
osd_rate_profile_name_pos	Rate profile name
osd_profile_name_pos	OSD profile name
osd_anti_gravity_pos	Anti-gravity indicator
osd_debug_pos	Debug value 1
osd_debug2_pos	Debug value 2
osd_esc_tmp_pos	ESC temperature
osd_esc_rpm_pos	ESC RPM
osd_esc_rpm_freq_pos	ESC RPM frequency
osd_core_temp_pos	FC core temperature
osd_vtx_channel_pos	VTX channel
osd_flip_arrow_pos	Crash flip arrow
osd_log_status_pos	Blackbox log status
osd_motor_diag_pos	Motor diagnostics
osd_adjustment_range_pos	Adjustment range indicator
osd_rcchannels_pos	RC channels
osd_stick_overlay_left_pos	Left stick overlay
osd_stick_overlay_right_pos	Right stick overlay
osd_aux_pos	AUX channel value
osd_total_flights_pos	Total flight count
osd_rtc_date_time_pos	RTC date/time
osd_warnings_pos	Warnings (default 14772)
osd_camera_frame_pos	Camera frame overlay
osd_sys_warnings_pos	System warnings
osd_sys_lq_pos	System link quality
osd_sys_bitrate_pos	System bitrate
osd_sys_delay_pos	System delay
osd_sys_distance_pos	System distance
osd_sys_goggle_voltage_pos	Goggle voltage
osd_sys_vtx_voltage_pos	VTX voltage
osd_sys_vtx_temp_pos	VTX temperature
osd_sys_fan_speed_pos	Fan speed
osd_sys_goggle_dvr_pos	Goggle DVR indicator
osd_sys_vtx_dvr_pos	VTX DVR indicator

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Servo & Gimbal

Variable	Default	Range / Values	Description
servo_center_pulse	1500	750–2250 us	Servo center pulse width. (Requires: USE_SERVOS)
servo_pwm_rate	50	50–498 Hz	Servo PWM update rate. 50 Hz = standard analog; 333+ Hz = digital. (Requires: USE_SERVOS)
servo_lowpass_hz	0	0–400 Hz	Low-pass filter cutoff for servo output smoothing (0 = disabled). (Requires: USE_SERVOS)
tri_unarmed_servo	ON	OFF, ON	Keep tail servo active when disarmed (tricopter). Prevents mechanical noise on arm. (Requires: USE_SERVOS)
thr_corr_angle	800	1–900 (tenths of degrees)	Angle above which throttle correction activates (compensates for tilt-induced lift loss).
thr_corr_value	0	0–150	Throttle correction amount at maximum tilt. 0 = disabled.
gimbal_mode	NORMAL	NORMAL, MIXTILT	Gimbal control mode for tricopter tail. (Requires: USE_SERVOS)
yaw_type	RUDDER	RUDDER, DIFF_THRUST	Yaw control type. DIFF_THRUST uses differential thrust (bicopter/differential). (Requires: USE_WING)

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Telemetry

Telemetry is transmitted to the ground station/transmitter over a serial port. Each telemetry_disabled_* flag suppresses a specific sensor type from the telemetry stream.

Also see:

• Telemetry
• ESC telemetry

Telemetry Serial Settings

Variable	Default	Range / Values	Description
tlm_halfduplex	ON	OFF, ON	Telemetry in half-duplex mode (shared TX/RX pin). Required for FrSky S.Port and HoTT.
tlm_inverted	OFF	OFF, ON	Invert telemetry signal logic. Required for some protocols (e.g. FrSky on some wiring).
hott_alarm_int	5	0–120 s	HoTT alarm interval (seconds between repeated alerts). 0 = disabled.
ibus_sensor	1,2,3,0,…	Array of 15	iBus sensor type assignments for 15 slots.

FrSky Telemetry

Variable	Default	Range / Values	Description
frsky_default_lat	0	-9000–9000 (hundredths of degrees)	Default GPS latitude when no fix (for FrSky GPS display).
frsky_default_long	0	-18000–18000 (hundredths of degrees)	Default GPS longitude when no fix.
frsky_gps_format	0	0–1	GPS coordinate format for FrSky (0 = decimal degrees, 1 = DMS).
frsky_unit	METRIC	IMPERIAL, METRIC, BRITISH	Unit system for FrSky telemetry values.
frsky_vfas_precision	0	0–1	FrSky VFAS voltage precision (0 = 0.2V, 1 = 0.1V).

MAVLink Telemetry

Variable	Default	Range / Values	Description
mavlink_min_txbuff	35	1–100 %	Minimum TX buffer level required before sending MAVLink messages.
mavlink_mah_as_heading_divisor	0	0–30000	Encode mAh as heading by dividing by this value. 0 = disabled (send real heading).

Disabled Telemetry Sensors (each ON flag suppresses that data from the telemetry stream)

Variable	Default	Description
telemetry_disabled_voltage	OFF	Battery voltage
telemetry_disabled_current	OFF	Current draw
telemetry_disabled_fuel	OFF	Fuel (capacity used)
telemetry_disabled_cap_used	ON	Capacity used
telemetry_disabled_mode	OFF	Flight mode
telemetry_disabled_acc_x	OFF	Accelerometer X
telemetry_disabled_acc_y	OFF	Accelerometer Y
telemetry_disabled_acc_z	OFF	Accelerometer Z
telemetry_disabled_pitch	OFF	Pitch angle
telemetry_disabled_roll	OFF	Roll angle
telemetry_disabled_heading	OFF	Heading
telemetry_disabled_altitude	OFF	Altitude
telemetry_disabled_lat_long	OFF	GPS latitude/longitude
telemetry_disabled_ground_speed	OFF	GPS ground speed
telemetry_disabled_distance	OFF	Distance from home
telemetry_disabled_vario	OFF	Vertical speed
telemetry_disabled_temperature	OFF	Temperature
telemetry_disabled_esc_current	ON	ESC current
telemetry_disabled_esc_voltage	ON	ESC voltage
telemetry_disabled_esc_rpm	ON	ESC RPM
telemetry_disabled_esc_temperature	ON	ESC temperature

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Camera Control

Camera control drives an analog voltage divider to simulate button presses on cameras with a single-wire control interface.

Variable	Default	Range / Values	Description
camera_control_mode	HARDWARE_PWM	HARDWARE_PWM, SOFTWARE_PWM, DAC	Output mode for camera control signal.
camera_control_ref_voltage	330	200–400 (centi-volts, e.g. 330 = 3.30V)	Reference voltage of the camera control circuit.
camera_control_key_delay	180	100–500 ms	Duration of simulated button press.
camera_control_internal_resistance	470	10–1000 ohm	Internal resistance of the voltage divider.
camera_control_button_resistance	450,270,150,68,0	Array of 5 (ohm)	Resistance values for each camera button (ENTER, LEFT, UP, RIGHT, DOWN).
camera_control_inverted	OFF	OFF, ON	Invert camera control signal logic.

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Receiver Protocols

SRXL2 / Spektrum

Variable	Default	Range / Values	Description
srxl2_unit_id	1	0–15	SRXL2 unit ID (must be unique on the SRXL2 bus). (Requires: USE_SERIALRX_SRXL2)
srxl2_baud_fast	ON	OFF, ON	Use 400000 baud for SRXL2. OFF uses 115200. (Requires: USE_SERIALRX_SRXL2)
spektrum_sat_bind	0	0–10	Number of satellite bind pulses. 0 = normal operation; 3–10 to enter bind mode. (Requires: USE_SPEKTRUM_BIND)
spektrum_sat_bind_autoreset	ON	OFF, ON	Automatically reset spektrum_sat_bind to 0 after binding. (Requires: USE_SPEKTRUM_BIND)

RC Device (RunCam, etc.)

Variable	Default	Range / Values	Description
rcdevice_protocol_version	0	0–1	RC device protocol version (0 = auto, 1 = v1). (Requires: USE_RCDEVICE)
rcdevice_init_dev_attempts	6	0–10	Number of initialization attempts for the RC device. (Requires: USE_RCDEVICE)
rcdevice_init_dev_attempt_interval	1000	0–5000 ms	Interval between initialization attempts. (Requires: USE_RCDEVICE)
rcdevice_feature	0	0–65535 (bitmask)	RC device features bitmask (camera control, OSD, etc.). (Requires: USE_RCDEVICE)

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MSP Override

MSP channel override allows an external device (companion computer, goggles) to override RC channels via MSP.

Variable	Default	Range / Values	Description
msp_override_channels_mask	0	0–262143 (bitmask)	Bitmask of RC channels that can be overridden by MSP. Bit 0 = channel 1.
msp_override_failsafe	OFF	OFF, ON	Use MSP override values as failsafe when signal is lost.

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Statistics

Betaflight accumulates flight statistics across power cycles in EEPROM.

Variable	Default	Range / Values	Description
stats_total_flights	0	0–4294967295	Total number of arming events logged. (Requires: USE_PERSISTENT_STATS)
stats_total_time_s	0	0–4294967295 s	Total armed time in seconds. (Requires: USE_PERSISTENT_STATS)
stats_total_dist_m	0	0–4294967295 m	Total distance flown (meters). (Requires: USE_PERSISTENT_STATS)
stats_mah_used	0	0–4294967295 mAh	Total battery capacity consumed. (Requires: USE_PERSISTENT_STATS + USE_BATTERY_CONTINUE)
stats_min_armed_time_s	-1	-1–127 s	Minimum arm duration to count a flight (-1 = count all). (Requires: USE_PERSISTENT_STATS)
stats_save_move_limit	20	0–255	Minimum movement (cm) required before GPS distance is counted. (Requires: USE_PERSISTENT_STATS)

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Optical Flow & Rangefinder

Variable	Default	Range / Values	Description
rangefinder_hardware	NONE	NONE, HCSR04, TFMINI, TF02, MTF01, MTF02, MTF01P, MTF02P, TFNOVA	Rangefinder (lidar) hardware selection. (Requires: USE_RANGEFINDER)
opticalflow_hardware	NONE	NONE, MT	Optical flow sensor hardware. (Requires: USE_OPTICALFLOW)
opticalflow_flip_x	OFF	OFF, ON	Flip optical flow X axis (correct for physical sensor orientation). (Requires: USE_OPTICALFLOW)
opticalflow_rotation	0	0–359 deg	Rotational offset of the optical flow sensor. (Requires: USE_OPTICALFLOW)
opticalflow_lpf	0	0–10000	Low-pass filter cutoff for optical flow data. 0 = disabled. (Requires: USE_OPTICALFLOW)

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Miscellaneous

Variable	Default	Range / Values	Description
timezone_offset_minutes	0	-780–780 min	Timezone offset from UTC in minutes for RTC display. (Requires: USE_RTC_TIME)