Referência CLI

A interface de linha de comando do OrniFlight (CLI) fornece acesso total a todas as configurações. Acesso através da aba CLI no configurador OrniFlight, ou via terminal serial a 115200 baud.

Comandos Básicos

Configurações essenciais

Placa e recursos

``` # List available features feature list

Enable/disable features

feature GPS feature TELEMETRY feature LED_STRIP

Set mixer type

mixer = ORNITHOPTER ```

Receptor

set serialrx_provider = CRSF set serialrx_inverted = OFF set serialrx_halfduplex = OFF set rssi_channel = 0

Bateria

set vbat_min_cell_voltage = 330 set vbat_max_cell_voltage = 430 set vbat_warning_cell_voltage = 350

Servos

set servo_pwm_rate = 330 set servo_center_pulse = 1500 set flap_spread = 20

Configurações ONDAS (apiVersão 1.46+)

``` # Cadence — timing modulation set ondas_cadence_gain = 50 # 0-100, timing brain set ondas_cadence_phase = 0 # -180° to +180°

Ferocity — asymmetric thrust

set ondas_ferocity_p_gain = 40 # Immediate thrust asymmetry set ondas_ferocity_d_gain = 30 # Anticipatory drag exploitation set ondas_ferocity_roll_gain = 50 # Roll-axis ferocity scaling set ondas_ferocity_yaw_gain = 40 # Yaw-axis ferocity scaling

Balance — wing symmetry

set ondas_balance_gain = 50 # Left/right wing balance

Advanced

set ondas_warp_gain = 0 # Stroke waveform warping set ondas_warp_yaw_gain = 0 # Yaw-specific warping set ondas_anchor_gain = 0 # Phase anchoring strength set ondas_resonance_gain = 0 # Airframe resonance compensation ```

Perfis de voo

``` # Switch between profiles profile 0 # Profile 1 (default) profile 1 # Profile 2 profile 2 # Profile 3

Profile-aware settings use index:

set ondas_cadence_gain = 50 # Current profile only ```

Ângulo de montagem do servo (apiversão 1.46+)

set servo_mount_angle_0 = 0 # Wing servo 0 mounting offset (±30°) set servo_mount_angle_1 = 0 # Wing servo 1 mounting offset (±30°) set servo_mount_angle_2 = 0 set servo_mount_angle_3 = 0

Configurações de taxa

``` set roll_rc_rate = 90 set roll_srate = 65 set roll_expo = 30

set pitch_rc_rate = 90 set pitch_srate = 65 set pitch_expo = 30

set yaw_rc_rate = 90 set yaw_srate = 50 set yaw_expo = 20 ```

À prova de falhas

set failsafe_delay = 4 set failsafe_procedure = LAND set failsafe_throttle = 1000

Compartilhando sua configuração

Use diff para exportar apenas configurações não padrão:

``` # In CLI: diff

Copy the output — this is your complete configuration

# To restore, paste the diff output into CLI and type ‘save’ ```