esp-fc

# ESP-FC CLI Reference

## Help
```
help
available commands:
 help
 dump
 get param
 set param value ...
 cal [gyro]
 defaults
 save
 reboot
 scaler
 mixer
 stats
 status
 version
```

## Informational

### Version

```
version
ESPF ESP32S3 v0.0.0 0000000 Mar 13 2025 23:16:36 api=1.43 gcc=8.4.0 std=201703
```

### Status
```
status
ESPF ESP32S3 v0.0.0 0000000 Mar 13 2025 23:16:36 api=1.43 gcc=8.4.0 std=201703
STATUS:
    cpu freq: 240 MHz
  gyro clock: 3200 Hz
   gyro rate: 1600 Hz
   loop rate: 1600 Hz
  mixer rate: 1600 Hz
  accel rate: 400 Hz
   baro rate: 0 Hz
    mag rate: 0 Hz

     devices: BMI160/I2C
       input: 43 Hz, 0.00 Hz, 0.14
   arm flags: FAILSAFE RX_FAILSAFE CLI MSP
 rescue mode: 0
      uptime: 6.4
```

### Statisticss

Ensure that total CPU usage doesn't exceed 60-70%
```
stats
ESPF ESP32S3 v0.0.0 0000000 Mar 13 2025 23:16:36 api=1.43 gcc=8.4.0 std=201703
    cpu freq: 240 MHz
  gyro clock: 3200 Hz
   gyro rate: 1600 Hz
   loop rate: 1600 Hz
  mixer rate: 1600 Hz
  accel rate: 400 Hz
   baro rate: 0 Hz
    mag rate: 0 Hz

gyro_r: 187us,  117us/i,  18.7%,  1600 Hz
gyro_f:  14us,    9us/i,   1.4%,  1600 Hz
 acc_r:  45us,  114us/i,   4.5%,   399 Hz
 acc_f:   2us,    5us/i,   0.2%,   399 Hz
 imu_p:   4us,   10us/i,   0.4%,   399 Hz
 pid_o:   2us,    1us/i,   0.2%,  1600 Hz
 pid_i:   2us,    1us/i,   0.2%,  1600 Hz
 mix_p:  11us,    7us/i,   1.1%,  1600 Hz
 mix_w:  39us,   24us/i,   3.9%,  1600 Hz
 mix_r:   3us,    2us/i,   0.3%,  1600 Hz
  rx_r:   7us,    9us/i,   0.7%,   800 Hz
  rx_s:   2us,    3us/i,   0.2%,   800 Hz
  rx_a:   0us,    1us/i,   0.0%,    51 Hz
serial:   6us,    6us/i,   0.6%,   962 Hz
  wifi:   1us,    2us/i,   0.1%,   318 Hz
   bat:   7us,   65us/i,   0.7%,   102 Hz
 cpu_0: 278us,  174us/i,  27.8%,  1600 Hz
 cpu_1: 108us,   54us/i,  10.8%,  1999 Hz
  TOTAL: 386us, 23.1%
```

## Configuration

 - **defaults** - restore defaults
 - **save** - persist configuration after changes
 - **reboot** - reboot board

> [!IMPORTANT]
> if you change any parameter, remember to apply `save` and `reboot`. Without that some changes might not take effect.

## Configuration parameters

 - **dump** - dump all parameters
 - **get parameter_name** - get paramter value, list matching patameters with current values
 - **set paramter value1 [value2] [value3]** - set parameter to new value (some parameters store multiple values, ex. input)

Many parameters have similar name and meaning like Betaflight.

### Configuration examples

Get single value
```
# get gyro_lpf_type
set gyro_lpf_type PT1
```

Get multiple values
```
# get output_
set mixer_output_limit 100
set output_motor_protocol DSHOT150
set output_motor_async 0
set output_motor_rate 480
set output_servo_rate 0
set output_min_command 1000
set output_min_throttle 1050
set output_max_throttle 2000
set output_dshot_idle 450
set output_0 M N 1000 1500 2000
set output_1 M N 1000 1500 2000
set output_2 M N 1000 1500 2000
set output_3 M N 1000 1500 2000
set pin_output_0 0
set pin_output_1 14
set pin_output_2 12
set pin_output_3 15
```

Setting single value
```
set pin_output_0 0
```
> [!NOTE]
> You don't need to use `=` character for assignment

Setting milti-argument values
```
set output_0 S R
```
Note that you don't have to enter all values, you can ommit last values if they are not changed.

## Specific parameters reference

### Pin functions

Default pin assignments for ESP32-S3 is listed below
```
set pin_input_rx 6
set pin_output_0 39
set pin_output_1 40
set pin_output_2 41
set pin_output_3 42
set pin_button -1
set pin_buzzer 5
set pin_led -1
set pin_serial_0_tx 43
set pin_serial_0_rx 44
set pin_serial_1_tx 16
set pin_serial_1_rx 15
set pin_serial_2_tx 18
set pin_serial_2_rx 17
set pin_i2c_scl 10
set pin_i2c_sda 9
set pin_input_adc_0 1
set pin_input_adc_1 4
set pin_spi_0_sck 12
set pin_spi_0_mosi 11
set pin_spi_0_miso 13
set pin_spi_cs_0 8
set pin_spi_cs_1 7
set pin_spi_cs_2 -1
set pin_buzzer_invert 1
set pin_led_invert 0
```

You can swap two motor outputs (example 0 and 3) by running commands

```
set pin_output_0 42
set pin_output_3 39
save
reboot
```

### Input channel config
```
set input_0 0 1000 1500 2000 A 1500
set input_{channel} {map} {min} {neutral} {max} {fs_mode} {fs_value}
```
 - `{channel}`: raw rc channel (0-index)
 - `{map}`: map raw channel to input channel (0-index)
 - `{min/neutral/max}`: same as `rxrange` to adjust radio endpoints, scale rx input range to 1000/1500/2000, enter your min/mid/max values transmitted by radio.
 - `{fs_mode}`: fail safe mode, can be A: auto, H: hold, S: set
 - `{fs_value}`: value to use when fsMode is S(set)

### Output channel config
```
set output_0 M N 1000 1500 2000
set output_{channel} {type} {inverse} {min} {neutral} {max}
```
 - `{channel}`: output channel (0-index)
 - `{type}`: output type, can be M: motor, S: servo
 - `{inverse}`: inverse output, can be set to N: normal, R: reversed
 - `{min/neutral/max}`: limit/adjust output

### Mode conditions
```
set mode_{index} {id} {channel} {min} {max} {logic_mode} {link_id}
set mode_0 0 4 1300 2100 0 0
```
 - `{index}`: mode activator index
 - `{id}`: mode Id
 - `{channel}`: observed input channel (0-index, must be greather than 3)
 - `{min/max}`: activation range, if both are set to 900, it means inactive
 - `{logic_mode}`: NOT IMPLEMENTED, used by configurator but ignored by firmare
 - `{link_id}` - NOT IMPLEMENTED, used by configurator but ignored by firmare

Mode IDs:
 - 0: arming
 - 1: angle
 - 2: air mode
 - 3: buzzer
 - 4: failsafe

### Serial port configuration
```
set serial_0 1 115200 0
set serial_{index} {function} {msp_baud} {blackbox_baud}
```
 - `{index}`: port number (0-index)
 - `{function}`: function id
 - `{msp_baud}`: msp baud rate
 - `{blackbox_baud}`: blackbox baud rate (unused)

Serial Functions:
 - 0: none
 - 1: msp
 - 128: blackbox

### Scaler configuration

It's diferrent version of inflight adjustments, allow to control few parameters with rc channel, ex. by potentiomenters.

```
set scaler_0 769 5 20 400
set scaler_{index} {dimensions} {channel} {min_scale} {max_scale}
```

 - `{index}`: scaler instance (0-3)
 - `{dimensions}`: combination of dimentions
 - `{channel}`: observed iput channel (0-index, must be greather than 3)
 - `{min_scale/max_scale}`: min and max scale in percent

Scaler Dimensions:
 - 1: PID P component of inner loop
 - 2: PID I component of inner loop
 - 4: PID D component of inner loop
 - 8: PID F component of inner loop
 - 16: PID P component of outer loop
 - 32: PID I component of outer loop
 - 64: PID D component of outer loop
 - 128: PID F component of outer loop
 - 256: Roll Axis
 - 512: Pitch Axis
 - 1024: Yaw Axis

**Note 1**: To apply scaling you need to combine at least one PID component and Axis. You can also control multiple parameters by single channels. For example to control inner P and D on Pitch and Roll axes you need to use value 771 as dimentions (1 + 2 + 256 + 521),

**Note 2**: the scale is not uniform, in neutral position it is always 100 percent to represent original config value, if minimum is negative, then neutral position represents 0.

**Note 3**: inner loop is main loop for acro mode, outer loop refers to level mode.

### Mixer

There are few predefined mixers that can be used out-of-the box. You can choose it by setting paramter `mixer_type`

```
set mixer_type QUADX
```

Currently allowed are only:
 - QUADX (default)
 - QUAD1234 (untested)
 - TRI (untested)

You can debug mixer configuration with `mixer` command

```
# mixer
set mix_outputs 4
set mix_0 1 0 -100
set mix_1 1 1 -100
set mix_2 1 2 100
set mix_3 1 3 100
set mix_4 2 0 100
set mix_5 2 1 -100
set mix_6 2 2 100
set mix_7 2 3 -100
set mix_8 3 0 -100
set mix_9 3 1 100
set mix_10 3 2 100
set mix_11 3 3 -100
set mix_12 4 0 100
set mix_13 4 1 100
set mix_14 4 2 100
set mix_15 4 3 100
set mix_16 0 0 0
```

### Custom Mixer

To activate custom mixer you need to set mixer type to custom and declare number of outputs.

```
set mixer_type CUSTOM
set mix_outputs 4
```

Then apply your custom rules
```
set mix_0 0 0 0
set mix_{index} {src} {dst} {rate}
```
 - `{index}`: rule index
 - `{src}`: mixer source channel
 - `{dst}`: output channel (0-index)
 - `{rate}`: mix rate in percent

> [!IMPORTANT]
> You need to add a termination rule at the end, to inform mixer to stop processing. In this case set `src` argument to 0. When mixer encounters such a rule, it stops processing and ignore next rules. You can add maximum 64 rules.

Mixer Sources:
 - 0: null for termination rule
 - 1: stabilized roll
 - 2: stabilized pitch
 - 3: stabilized yaw
 - 4: thrust
 - 5: rc roll
 - 6: rc pitch
 - 7: rc yaw
 - 8: rc thrust
 - 9: rc aux 1
 - 10: rc aux 2
 - 11: rc aux 3

## All supported parameters

Use `dump` command to backup all your settings. You can then load you configuration in CLI tab. Below you can find full list of parameters.

```
set feature_gps 0
set feature_dyn_notch 0
set feature_motor_stop 0
set feature_rx_ppm 0
set feature_rx_serial 1
set feature_rx_spi 0
set feature_soft_serial 0
set feature_telemetry 0
set debug_mode NONE
set debug_axis 1
set gyro_bus AUTO
set gyro_dev AUTO
set gyro_dlpf 256Hz
set gyro_align DEFAULT
set gyro_lpf_type PT1
set gyro_lpf_freq 100
set gyro_lpf2_type PT1
set gyro_lpf2_freq 213
set gyro_lpf3_type FO
set gyro_lpf3_freq 150
set gyro_notch1_freq 0
set gyro_notch1_cutoff 0
set gyro_notch2_freq 0
set gyro_notch2_cutoff 0
set gyro_dyn_lpf_min 170
set gyro_dyn_lpf_max 425
set gyro_dyn_notch_q 300
set gyro_dyn_notch_count 4
set gyro_dyn_notch_min 80
set gyro_dyn_notch_max 400
set gyro_rpm_harmonics 3
set gyro_rpm_q 500
set gyro_rpm_min_freq 100
set gyro_rpm_fade 30
set gyro_rpm_weight_1 100
set gyro_rpm_weight_2 100
set gyro_rpm_weight_3 100
set gyro_rpm_tlm_lpf_freq 150
set gyro_offset_x -6
set gyro_offset_y -1
set gyro_offset_z 8
set accel_bus AUTO
set accel_dev AUTO
set accel_lpf_type BIQUAD
set accel_lpf_freq 15
set accel_offset_x 0
set accel_offset_y 0
set accel_offset_z 0
set mag_bus AUTO
set mag_dev NONE
set mag_align DEFAULT
set mag_filter_type BIQUAD
set mag_filter_lpf 10
set mag_offset_x 0
set mag_offset_y 0
set mag_offset_z 0
set mag_scale_x 1000
set mag_scale_y 1000
set mag_scale_z 1000
set baro_bus AUTO
set baro_dev NONE
set baro_lpf_type BIQUAD
set baro_lpf_freq 3
set gps_min_sats 8
set gps_set_home_once 1
set board_align_roll 0
set board_align_pitch 0
set board_align_yaw 0
set vbat_source NONE
set vbat_scale 100
set vbat_mul 1
set vbat_div 10
set vbat_cell_warn 350
set ibat_source NONE
set ibat_scale 100
set ibat_offset 0
set fusion_mode MAHONY
set fusion_gain_p 50
set fusion_gain_i 5
set input_rate_type ACTUAL
set input_roll_rate 20
set input_roll_srate 40
set input_roll_expo 0
set input_roll_limit 1998
set input_pitch_rate 20
set input_pitch_srate 40
set input_pitch_expo 0
set input_pitch_limit 1998
set input_yaw_rate 30
set input_yaw_srate 36
set input_yaw_expo 0
set input_yaw_limit 1998
set input_deadband 3
set input_min 885
set input_mid 1500
set input_max 2115
set input_filter_type FILTER
set input_lpf_type PT3
set input_lpf_freq 0
set input_lpf_factor 50
set input_ff_lpf_type PT3
set input_ff_lpf_freq 0
set input_rssi_channel 0
set input_0 0 1000 1500 2000 A 1500
set input_1 1 1000 1500 2000 A 1500
set input_2 3 1000 1500 2000 A 1500
set input_3 2 1000 1500 2000 A 1000
set input_4 4 1000 1500 2000 H 1500
set input_5 5 1000 1500 2000 H 1500
set input_6 6 1000 1500 2000 H 1500
set input_7 7 1000 1500 2000 H 1500
set input_8 8 1000 1500 2000 H 1500
set input_9 9 1000 1500 2000 H 1500
set input_10 10 1000 1500 2000 H 1500
set input_11 11 1000 1500 2000 H 1500
set input_12 12 1000 1500 2000 H 1500
set input_13 13 1000 1500 2000 H 1500
set input_14 14 1000 1500 2000 H 1500
set input_15 15 1000 1500 2000 H 1500
set failsafe_delay 4
set failsafe_kill_switch 0
set vtx_power 0
set vtx_channel 8
set vtx_band 1
set vtx_low_power_disarm 0
set serial_0 1 115200 0
set serial_1 1 115200 0
set serial_2 64 115200 0
set serial_soft_0 1 115200 0
set serial_usb 1 115200 0
set scaler_0 0 0 20 400
set scaler_1 0 0 20 400
set scaler_2 0 0 20 400
set mode_0 0 4 900 900 0 0
set mode_1 0 4 900 900 0 0
set mode_2 0 4 900 900 0 0
set mode_3 0 4 900 900 0 0
set mode_4 0 4 900 900 0 0
set mode_5 0 4 900 900 0 0
set mode_6 0 4 900 900 0 0
set mode_7 0 4 900 900 0 0
set pid_sync 1
set pid_roll_p 42
set pid_roll_i 85
set pid_roll_d 24
set pid_roll_f 72
set pid_pitch_p 46
set pid_pitch_i 90
set pid_pitch_d 26
set pid_pitch_f 76
set pid_yaw_p 45
set pid_yaw_i 90
set pid_yaw_d 0
set pid_yaw_f 72
set pid_level_p 45
set pid_level_i 0
set pid_level_d 0
set pid_level_angle_limit 55
set pid_level_rate_limit 300
set pid_level_lpf_type PT1
set pid_level_lpf_freq 90
set pid_yaw_lpf_type PT1
set pid_yaw_lpf_freq 90
set pid_dterm_lpf_type PT1
set pid_dterm_lpf_freq 128
set pid_dterm_lpf2_type PT1
set pid_dterm_lpf2_freq 128
set pid_dterm_notch_freq 0
set pid_dterm_notch_cutoff 0
set pid_dterm_dyn_lpf_min 60
set pid_dterm_dyn_lpf_max 145
set pid_dterm_weight 30
set pid_iterm_limit 30
set pid_iterm_zero 1
set pid_iterm_relax RP
set pid_iterm_relax_cutoff 15
set pid_tpa_scale 10
set pid_tpa_breakpoint 1650
set mixer_sync 1
set mixer_type QUADX
set mixer_yaw_reverse 0
set mixer_throttle_limit_type NONE
set mixer_throttle_limit_percent 100
set mixer_output_limit 100
set output_motor_protocol DSHOT300
set output_motor_async 0
set output_motor_rate 480
set output_motor_poles 14
set output_servo_rate 0
set output_min_command 1000
set output_min_throttle 1070
set output_max_throttle 2000
set output_dshot_idle 550
set output_dshot_telemetry 0
set output_0 M N 1000 1500 2000
set output_1 M N 1000 1500 2000
set output_2 M N 1000 1500 2000
set output_3 M N 1000 1500 2000
set pin_input_rx 6
set pin_output_0 39
set pin_output_1 40
set pin_output_2 41
set pin_output_3 42
set pin_button -1
set pin_buzzer 5
set pin_led -1
set pin_serial_0_tx 43
set pin_serial_0_rx 44
set pin_serial_1_tx 16
set pin_serial_1_rx 15
set pin_serial_2_tx 18
set pin_serial_2_rx 17
set pin_i2c_scl 13
set pin_i2c_sda 12
set pin_input_adc_0 1
set pin_input_adc_1 4
set pin_spi_0_sck -1
set pin_spi_0_mosi -1
set pin_spi_0_miso -1
set pin_spi_cs_0 8
set pin_spi_cs_1 7
set pin_spi_cs_2 -1
set pin_buzzer_invert 1
set pin_led_invert 0
set i2c_speed 800
set rescue_config_delay 30
set telemetry_interval 1000
set blackbox_dev NONE
set blackbox_mode NORMAL
set blackbox_rate 32
set blackbox_log_acc 1
set blackbox_log_alt 1
set blackbox_log_bat 1
set blackbox_log_debug 1
set blackbox_log_gps 1
set blackbox_log_gyro 1
set blackbox_log_gyro_raw 1
set blackbox_log_mag 1
set blackbox_log_motor 1
set blackbox_log_pid 1
set blackbox_log_rc 1
set blackbox_log_rpm 1
set blackbox_log_rssi 1
set blackbox_log_sp 1
set model_name
set wifi_ssid
set wifi_pass
set wifi_tcp_port 1111
set mix_outputs 0
set mix_0 0 0 0
set mix_1 0 0 0
set mix_2 0 0 0
set mix_3 0 0 0
set mix_4 0 0 0
set mix_5 0 0 0
set mix_6 0 0 0
set mix_7 0 0 0
set mix_8 0 0 0
set mix_9 0 0 0
set mix_10 0 0 0
set mix_11 0 0 0
set mix_12 0 0 0
set mix_13 0 0 0
set mix_14 0 0 0
set mix_15 0 0 0
set mix_16 0 0 0
set mix_17 0 0 0
set mix_18 0 0 0
set mix_19 0 0 0
set mix_20 0 0 0
set mix_21 0 0 0
set mix_22 0 0 0
set mix_23 0 0 0
set mix_24 0 0 0
set mix_25 0 0 0
set mix_26 0 0 0
set mix_27 0 0 0
set mix_28 0 0 0
set mix_29 0 0 0
set mix_30 0 0 0
set mix_31 0 0 0
set mix_32 0 0 0
set mix_33 0 0 0
set mix_34 0 0 0
set mix_35 0 0 0
set mix_36 0 0 0
set mix_37 0 0 0
set mix_38 0 0 0
set mix_39 0 0 0
set mix_40 0 0 0
set mix_41 0 0 0
set mix_42 0 0 0
set mix_43 0 0 0
set mix_44 0 0 0
set mix_45 0 0 0
set mix_46 0 0 0
set mix_47 0 0 0
set mix_48 0 0 0
set mix_49 0 0 0
set mix_50 0 0 0
set mix_51 0 0 0
set mix_52 0 0 0
set mix_53 0 0 0
set mix_54 0 0 0
set mix_55 0 0 0
set mix_56 0 0 0
set mix_57 0 0 0
set mix_58 0 0 0
set mix_59 0 0 0
set mix_60 0 0 0
set mix_61 0 0 0
set mix_62 0 0 0
set mix_63 0 0 0
```