Betaflight Autopilot, position and altitude hold: CLI settings
Altitude hold, position hold and the autopilot navigation settings of recent releases: hover throttle, position and altitude PIDs, landing and waypoint behaviour.
66 settings in Betaflight 2026.6, plus 1 that earlier releases had.
Each range and value list is read from the release's src/main/cli/settings.c, each default from
the CLI get of the release built for the simulator (SITL), booted on an empty EEPROM, with no board config applied, so a board's own config can still change it. Set one with set name = value, then save.
Paste a diff all into the CLI checker to test it against any release.
| Setting | Type | Range or values | Default | 4.4 | 4.5 | 2025.12 | 2026.6 | Notes |
|---|---|---|---|---|---|---|---|---|
alt_hold_climb_rate # |
uint8 global |
0 to 200 | 50needs USE_ALTITUDE_HOLD, USE_WING |
— | — | ✓ | ✓ | |
alt_hold_deadband # |
uint8 global |
0 to 70 | 20needs USE_ALTITUDE_HOLD, USE_WING |
— | — | ✓ | ✓ | |
altitude_d_lpf # |
uint16 global |
10 to 5000 | 300 |
✓ | ✓ | ✓ | Δ | 2026.6: max 1000 → 5000; default 100 → 300 |
altitude_lpf # |
uint16 global |
10 to 5000 | 300 |
✓ | ✓ | ✓ | Δ | 2026.6: max 1000 → 5000 |
altitude_prefer_baro # |
int8 global |
0 to 100 | 100 |
✓ | ✓ | ✓ | ✓ | |
altitude_source # |
int8 global |
DEFAULT, BARO_ONLY, GPS_ONLY, RANGEFINDER_PREFER, RANGEFINDER_ONLY | DEFAULT |
✓ | ✓ | ✓ | Δ | 2026.6: new values RANGEFINDER_PREFER, RANGEFINDER_ONLY |
ap_altitude_d # |
uint8 global |
0 to 200 | 30needs USE_WING |
— | — | ✓ | Δ | 2026.6: default 15 → 30 |
ap_altitude_f # |
uint8 global |
0 to 200 | 30needs USE_WING |
— | — | ✓ | Δ | 2026.6: default 15 → 30 |
ap_altitude_i # |
uint8 global |
0 to 200 | 30needs USE_WING |
— | — | ✓ | Δ | 2026.6: default 15 → 30 |
ap_altitude_p # |
uint8 global |
0 to 200 | 30needs USE_WING |
— | — | ✓ | Δ | 2026.6: default 15 → 30 |
ap_geofence_action # |
uint8 global |
LAND, RTH | LANDneeds USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_hold_figure8_width # |
uint16 global |
500 to 10000 | 2000needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_hold_orbit_radius # |
uint16 global |
300 to 5000 | 1000needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_hover_throttle # |
uint16 global |
0 to 1700 | 1275needs USE_WING |
— | — | ✓ | Δ | 2026.6: min 1100 → 0 |
ap_l1_enable # |
uint8 global |
OFF, ON | ONneeds USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_l1_max_cross_track_error # |
uint16 global |
1000 to 50000 | 10000needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_l1_max_lookahead # |
uint16 global |
1000 to 50000 | 10000needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_l1_min_lookahead # |
uint16 global |
100 to 5000 | 1000needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_l1_period # |
uint16 global |
5 to 100 | 20needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_l1_turn_rate # |
uint8 global |
0 to 90 | 8needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_landing_altitude_m # |
uint8 global |
0 to 200 | 4needs USE_WING |
— | — | ✓ | ✓ | |
ap_landing_descent_rate # |
uint8 global |
10 to 200 | 50needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_landing_detection_time # |
uint8 global |
5 to 50 | 10needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_landing_spiral_enable # |
uint8 global |
OFF, ON | ONneeds USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_landing_spiral_radius # |
uint16 global |
50 to 2000 | 200needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_landing_spiral_rate # |
uint8 global |
1 to 45 | 10needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_landing_throttle_threshold # |
uint16 global |
10 to 500 | 100needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_landing_velocity_threshold # |
uint8 global |
10 to 200 | 50needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_max_angle # |
uint8 global |
10 to 70 | 50needs USE_WING |
— | — | ✓ | ✓ | |
ap_max_distance_from_home # |
uint16 global |
0 to 10000 | 0needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_max_turn_rate # |
uint8 global |
1 to 90 | 3needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_max_velocity # |
uint16 global |
100 to 5000 | 500needs USE_WING |
— | — | — | ✓ | |
ap_max_yaw_rate # |
uint16 global |
10 to 360 | 30needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_min_forward_velocity # |
uint16 global |
10 to 500 | 300needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_min_nav_altitude_m # |
uint8 global |
0 to 50 | 5needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_nav_accel # |
uint16 global |
20 to 1000 | 250needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_nav_carrot_lead_max # |
uint16 global |
600 to 6000 | 2500needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_nav_carrot_lead_time # |
uint8 global |
2 to 40 | 12needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_nav_corner_delta_v # |
uint16 global |
100 to 4000 | 440needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_nav_corner_speed # |
uint16 global |
50 to 2000 | 220needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_nav_decel # |
uint16 global |
20 to 1000 | 250needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_nav_preturn_dist # |
uint16 global |
500 to 5000 | 1500needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_position_a # |
uint8 global |
0 to 200 | 30needs USE_WING |
— | — | ✓ | ✓ | |
ap_position_cutoff # |
uint8 global |
10 to 50 | 30needs USE_WING |
— | — | ✓ | Δ | 2026.6: max 250 → 50; default 80 → 30 |
ap_position_d # |
uint8 global |
0 to 200 | 30needs USE_WING |
— | — | ✓ | ✓ | |
ap_position_f # |
uint8 global |
0 to 200 | 30needs USE_WING |
— | — | — | ✓ | |
ap_position_i # |
uint8 global |
0 to 200 | 30needs USE_WING |
— | — | ✓ | ✓ | |
ap_position_p # |
uint8 global |
0 to 200 | 30needs USE_WING |
— | — | ✓ | ✓ | |
ap_rx_loss_policy # |
uint8 global |
DISABLE, CONTINUE, LAND | DISABLEneeds USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_stick_deadband # |
uint16 global |
0 to 500 | 50needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_stop_threshold # |
uint8 global |
0 to 100 | 10needs USE_WING |
— | — | — | ✓ | |
ap_throttle_deadband # |
uint16 global |
0 to 500 | 50needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_throttle_max # |
uint16 global |
1400 to 2000 | 1900needs USE_WING |
— | — | ✓ | Δ | 2026.6: default 1700 → 1900 |
ap_throttle_min # |
uint16 global |
1050 to 1400 | 1100needs USE_WING |
— | — | ✓ | ✓ | |
ap_velocity_buildup_max_pitch # |
uint8 global |
0 to 20 | 8needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_velocity_drag_coeff # |
uint8 global |
0 to 100 | 50needs USE_WING |
— | — | — | ✓ | |
ap_waypoint_arrival_radius # |
uint16 global |
100 to 5000 | 500needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_waypoint_hold_radius # |
uint16 global |
50 to 1000 | 200needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_yaw_d # |
uint16 global |
0 to 200 | 10needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_yaw_mode # |
uint8 global |
VELOCITY, BEARING, HYBRID, FIXED, DAMPENER | VELOCITYneeds USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
ap_yaw_p # |
uint16 global |
0 to 500 | 50needs USE_WING, ENABLE_FLIGHT_PLAN |
— | — | — | ✓ | |
pos_hold_deadband # |
uint8 global |
0 to 50 | 5needs USE_POSITION_HOLD, USE_WING |
— | — | ✓ | ✓ | |
pos_hold_without_mag # |
uint8 global |
OFF, ON | OFFneeds USE_POSITION_HOLD, USE_WING |
— | — | ✓ | — | Removed in 2026.6. |
poshold_opticalflow_max_range # |
uint16 global |
50 to 1000 | 400needs USE_POSITION_HOLD, USE_WING |
— | — | — | ✓ | |
poshold_opticalflow_quality_min # |
uint8 global |
0 to 100 | 30needs USE_POSITION_HOLD, USE_WING |
— | — | — | ✓ | |
poshold_position_source # |
uint8 global |
AUTO, GPS_ONLY, OPTICALFLOW_ONLY | AUTOneeds USE_POSITION_HOLD, USE_WING |
— | — | — | ✓ | |
rangefinder_max_range_cm # |
uint16 global |
50 to 1000 | 400 |
— | — | — | ✓ |
✓ present, Δ changed in that release (hover for what changed), — not in that release. “needs USE_…” is the build option the setting is compiled with: a cloud build without it has no such setting.
Other sections
- Gyro and D-term filters (33)
- PID tuning (81)
- Angle, horizon and launch modes (24)
- Rates and throttle curve (25)
- Motors and ESC (35)
- Servos and gimbal (23)
- Receiver and RC link (32)
- Failsafe and arming (14)
- GPS (18)
- GPS rescue (12)
- Battery and current sensor (28)
- OSD (49)
- OSD element positions (93)
- VTX and camera control (12)
- Blackbox and debug (21)
- Telemetry and serial (44)
- LED strip and beeper (12)
- Sensors and board alignment (38)
- System and hardware (23)
What changed between releases: 4.4 → 4.5 · 4.5 → 2025.12 · 2025.12 → 2026.6. Machine-readable: params.json (2026.6.2), GPL-3.0 like the firmware it comes from.