Using CLI Commands

The CLI lets you configure screens, display modes, instrument layouts, map data, radio channels, LEDs, and other controller settings from a serial terminal. After making changes, enter save to keep the settings after power is removed.

Table Of Contents

• Recommended Terminal Programs
• Setting Up
• Adjust Settings For Screens
• Troubleshooting
• List Of CLI Commands

Recommended Terminal Programs

Any serial terminal program should work. These are good options for connecting to the controller over USB serial.

Program	Platforms	Download	Notes
Tera Term	Windows	Tera Term Project	Recommended Windows option. Free and open source.
PuTTY	Windows, Linux	PuTTY Download	Common, simple, and reliable. Select Serial for the connection type.
CoolTerm	Windows, Mac, Linux	CoolTerm	Good cross-platform serial terminal for hardware projects.
RealTerm	Windows	RealTerm	Advanced serial debugging tool.
Hercules SETUP Utility	Windows	Hercules SETUP Utility	Useful for serial debugging and monitoring.
Termite	Windows	Termite	Small, simple RS232 terminal.
Serial	Mac	Serial for Mac	Polished Mac serial terminal. Paid, with a free trial.
SerialTools	Mac	SerialTools on the App Store	Free Mac option from the App Store.
SerialTool	Windows, Mac, Linux	SerialTool	Advanced serial tool with logging and debugging features.
Arduino IDE Serial Monitor	Windows, Mac, Linux	Arduino IDE	Useful if Arduino IDE is already installed.
screen	Mac, Linux	GNU Screen	Built-in or easy to install on many systems.
iTerm2	Mac	iTerm2	Popular terminal app for Mac.
Minicom	Linux, Mac	Minicom	Command-line serial program for advanced users.
picocom	Linux, Mac	picocom	Small command-line serial terminal.

If your terminal program requires serial settings, use 115200 baud, 8 data bits, no parity, 1 stop bit, and no flow control.

Setting Up

Use a serial terminal program such as Tera Term or PuTTY on Windows, or iTerm2 on Mac.

The microcontroller has a native USB controller, so it will work with any speed and data format. The connector on the board is micro USB. Use a data-capable USB cable; many micro USB cables are charge-only and will not create a serial port.

When the controller is plugged in, the computer should create a new serial port. On Windows, open Device Manager, expand Ports, and note which COM ports are available. Plug in the controller and look for the new USB Serial Device. In the example below, it is COM5. This is the port to open in the terminal program.

Plug In Screens and USB Cable

Plug in the display screens and connect the controller to the computer with the micro USB cable.

Open a Terminal Program

Open the terminal program and select the serial port the controller is using. In Tera Term, select the COM port that appears when the controller is plugged in.

If Tera Term is already running, change the serial port by selecting Setup → Serial Port.

If the terminal program requires serial settings, use 115200 baud, 8 data bits, no parity, 1 stop bit, and no flow control.

Adjust Settings For Screens

Starting with screen 1, make sure the correct driver is selected. Select the driver based on the screen resolution. For 320×240 screens, there are two drivers to choose from: 3 and 4. Select the one that properly draws the screen.

The 2 inch screens have inverted colors by default. Use the invert command to correct them. Use the mode command to select what to display on the screen. Use flip, rotate, and mirror to adjust the image orientation.

If you are displaying instruments, use the inst command to select which instruments are displayed and where they appear. If using more than one screen, use the screen command to select another screen and repeat the setup for each display.

When the screens look correct, enter save so the settings are kept after power is removed.

Quick Start

screen 1
driver 4
invert
mode g
save

Troubleshooting

If the CLI does not respond, start with the basics: confirm the correct serial port is selected, use a known data USB cable, close any other program that may already be using the port, and press Enter a few times after connecting.

• No new COM port appears: try a different USB cable or USB port.
• Terminal opens but nothing appears: reconnect the controller and reopen the terminal.
• Random symbols or unreadable text: check the serial settings.
• Port is busy or will not open: close other programs using the serial port.
• Screen is blank, white, shifted, or incorrect: verify the selected driver.
• Part of one screen appears on another screen: try drawdelay 3.
• Settings disappear after power cycle: enter save.
• Map changes do not load: enter map save, then reboot.

List Of CLI Commands

? or help

Shows a list of commands with a brief description and the firmware version introduced. A command followed by ? or help will display more details.

• help – print list of commands
• ? – enter <command> ? for more help
• all – print out all instructions
• settings – display current settings
• input – select source of data input: m/v/p/i/s/r
• uart – select UART speed to communicate with flight controller
• screen – set screen to configure
• display – set display to configure
• driver – set the driver for screen
• invert – invert display colors
• flip – rotate display 180 degrees
• rotate – rotate display 90 degrees
• mirror – mirror display
• mode – choose what each screen displays
• inst – select instruments and locations
• mfd – MFD layout
• layout – spacing for steam gauges
• xoffset – move image on X axis for steam gauges
• yoffset – move image on Y axis for steam gauges
• enable – enable screens to scroll through
• logo – set the boot screen logo
• scale – scale steam gauges
• zoom – map zoom level
• drawdelay – delay after drawing screen
• units – set units
• rpm – set max RPM
• altitude – set altitude type
• amps – set max amps on amp gauges
• airspeed – set airspeed scale
• hsirc – radio channel for adjusting HSI
• buttonsrc – radio channel for buttons
• gear – radio channel for gear indicator
• flaps – radio channel for flap indicator
• vspeeds – display current V-speeds
• glideslope – set glide slope for ILS approaches
• pitot – use pitot for airspeed
• baro – use baro for altitude
• led – board LED on/off
• navled – alternate LED function
• planes – sim, ADS-B, ESP32-radar, or formation flight
• bandit – set speed and turn rate of bandit aircraft
• onmap – display planes on map
• bootdelay – show boot screens for this long
• map – display map data waypoints
• waypoint – set waypoints for map
• airport – set airports for map
• runway – set runways for map
• home – set home location
• loadFcWaypoints – load waypoints saved in flight controller
• sim – turn simulator on/off
• hidegps – hide GPS coordinates
• version – list version info
• dump – dump settings to copy/paste
• save – save settings
• reboot – reboot the module without saving
• debug – debug command
• trace – trace flight controller communication for debug
• capture – capture bitmap of current screen

all

Prints out all CLI instructions.

settings

Displays the current controller settings, screen configuration, input source, firmware version, and map data version.

Display        invert/mirror
#  driver    res       | rot mode            instrument layout
------------------------------------------------------------------
1  4 ILI9341 320x240     1  g G1000   a{1,2,3,4,5,6} b{7,8,9,10,11,12}
2  2 ST7789  280x240 i   3  d Debug   a{1,2,3,4} b{5,6,7,8} c{3,4,9,6}
3  0 None
4  0 None

Input: m) MSP
VSpeeds: VFlap VF_End VNorm VCaut VNe
         10    40     25    75    101
Units: f) Feet/Miles
Max RPM: 30 (30,000)
Airspeed scale: 100%
Board LED: on
Glide slope: 3.00
HSI channel: 10
Gear channel: 6
Switch channel: 8
Airspeed source: GPS
Altitude source: GPS
Load fc waypoints: off
Flight Controller: iNav
Simulator: off

Firmware Version 1.07
Build Date & Time Feb 17 2025 22:31:17
Settings:0107 Map data:0100
Sold by fpvtoys.net

input (1.05)

Selects the source of flight data. See the input description for more detail.

input <m/v/p/i/s/r>
m MSP
v Mavlink
p SmartPort
i Inverted SmartPort
s sBus
r R/C

uart (1.10)

Sets the UART speed used to communicate with the flight controller when using MSP or Mavlink.

0) 115200*
1) 57600
2) 230400
3) 460800
4) 921600
5) 1000000
6) 1500000
* selected

screen

Selects the screen to configure. Several commands change settings only for the selected screen.

screen 2

display

display is another command for selecting the display to configure.

display 2

driver

Changes the display driver and resolution for the selected screen. If a screen is blank, white, shifted, or drawn incorrectly, select the driver that matches the display size and resolution.

Change driver/resolution for selected screen

0) None
1) ST7789  240x240      - 1.54 inch
2) ST7789  280x240      - 1.69 inch
3) ST7789  320x240      - 2.0, 2.4, 2.8, 3.2 inch
4) ILI9341 320x240      - 2.2, 2.8 inch
5) ILI9488 480x320      - 3.5, 4.0 inch
6) ST7735  128x128      - 0.85 inch
7) ST7735  160x80       - 0.96 inch
8) ST7789  320x170(172) - 1.47, 1.9 inch
9) GC9A01A 240x240      - 1.28 inch round
10) GC9D01N 160x160     - 0.71 inch round
11) ST7789  284x76      - 2.25 inch

invert

Inverts the colors on the selected screen.

flip

Flips the selected screen 180 degrees. You can also use flip <screen num>.

rotate

Rotates the selected screen 90 degrees. You can also use rotate <screen num>.

mirror

Mirrors the selected screen. You can also use mirror <screen num>.

mode

Controls what the selected screen displays. See the description of modes.

mode              display the current mode for the current screen
mode <mode>       select mode for current screen

g) G500/G1000 - Primary flight display
m) Map - moving map
w) Weather radar
a) Airplane radar
p) Airline Primary Flight Display
f) Flight Management Computer
r) Radio Stack. Follow with 0, 1, or 2 to select different stacks
h) Heads Up Display
u) Multifunction Display
s) Split Screen showing G1000 and Map
i) Flight Instruments / Steam gauges
d) Debug screen
+) Next mode
-) Previous mode

inst

Sets the instrument layout for steam gauges. See Instrument Descriptions.

Layout positions start in the upper left and move right, then down.

1 2 3     1 2     1 2
4 5 6     3 4     3 4
                    5 6

Example:
inst 1 2 3 4 5 6 - standard 6 pack
inst b 1 2 3 4 5 6 - set instruments for 2nd steam screen

-1 - end of instruments
0  - empty
1  - airspeed
2  - attitude
3  - altimeter
4  - turn coordinator
5  - directional gyro
6  - VSI
7  - airspeed alt
8  - attitude electric
9  - HSI
10 - RMI
11 - VOR
12 - Tachometer single/left
13 - Tachometer right
14 - Tachometer twin
15 - Manifold single/left (motor RC signal)
16 - Manifold right
17 - Manifold twin
18 - Fuel flow / amps
19 - Weather Radar
20 - Aircraft Radar
21 - Compass
22 - Fuel
23 - RAF Airspeed
24 - RAF Attitude
25 - RAF VSI
26 - RAF Altimeter
27 - RAF Compass
28 - RAF Turn/Bank
29 - Gear
30 - Flaps

mfd (1.09)

Sets the MFD gauge positions.

MFD gauge positions

1 2
3 4

0 - empty
1 - RPM
2 - Manifold Pressure
3 - Fuel Flow / Amps
4 - Fuel Gauge
5 - Horizontal Graph
6 - Vertical Graph

layout (1.02)

Sets spacing for instrument / steam gauges.

layout <p/s/c>
p - proportional: screen divided into segments and instrument placed in center of each
s - spread: instruments spread as far apart as possible
c - centered: instruments grouped into center of screen

xoffset (1.02)

Sets the screen offset on the X axis for steam gauges. Use +/- 127 pixels.

yoffset (1.02)

Sets the screen offset on the Y axis for steam gauges. Use +/- 127 pixels.

enable (1.03)

Enables the modes that can be scrolled through on a screen. This is a per-screen setting.

enable gmwapfri   add screens
enable -gmwapfri  remove screens
enable all        add all
enable -all       remove all

Example:
enable gmi

screen 1 modes enabled: gmwapfri
+g) G1000
+m) Map
+w) Weather Radar
+a) Aircraft Radar
+p) PFD
+f) FMC
+r) Radio Stack
+i) Instruments

logo (1.03)

Sets the boot screen logo. Logos are automatically set based on the mode, but they can be changed.

f) fpvtoys
g) garmin
a) airwolf
c) airwolf with copter
b) boeing
r) airbus

scale (1.04)

Scales instruments on screen. Screens that normally display 3 or fewer instruments will scale them down to fit more. Screens that normally display 4 or more will scale them up to only display one.

zoom (1.12)

Sets the map zoom level on an individual screen.

+ zoom in
- zoom out
a auto zoom

drawdelay (1.12)

Sets a delay in milliseconds after drawing a screen. With simultaneous processing and drawing, there is normally no delay between screens. Some screens are slower to release their select pin, causing part of the next screen to appear at the top of the display. Adding a delay of 3-5 ms should fix drawing. This is usually seen only on 4 inch displays.

units

units <f/m/c> sets units to feet/knots/nautical miles, meters/kilometers, or combo metric with altitude in feet.

rpm

Sets the max RPM displayed on the tachometer in 1000 units. For example, 30 = 30,000 RPM.

altitude

Sets altitude type: a for AGL or m for MSL. MSL is only available for GPS.

amps (1.09)

Sets the max amps displayed on amp gauges.

airspeed (1.06)

Sets the scale factor for displaying airspeed. For example, 200 will display 200 knots when reading 100 knots from the flight controller.

hsirc

hsirc <channel> - RC analog channel used to set HSI course
hsirc 0         - turn off

buttonsrc

Sets the RC channel used to simulate button presses and light settings. See the instructions for setting up radio buttons.

buttonsrc <channel> - RC channel used to simulate button presses and light settings
buttonsrc 0         - turn off

900 uS  - nav lights off
1000 uS - position/beacon lights on
1500 uS - + strobes
2000 uS - + landing lights
1100 uS - select previous VOR/airport
1200 uS - select previous display
1300 uS - change mode
1400 uS - map zoom in
1600 uS - map zoom out
1700 uS - change mode
1800 uS - select next display
1900 uS - select next VOR/airport

gear (1.06)

gear <channel> - RC analog channel used for gear indicator
Use -channel to reverse operation
gear 0 - turn off

flaps (1.08)

flaps <channel> - RC analog channel used for flap indicator
Use -channel to reverse operation
flaps 0 - turn off

vspeeds

vspeeds <vflap> <vnorm> <vcaut> <vne> - set V-speeds in knots
example: vspeeds 20 40 70 90

glideslope

Sets the glide slope angle for approaches.

pitot (1.01)

pitot 0/1
Use pitot for airspeed

baro (1.01)

baro 0/1
Use baro for altitude

led

Sets the board LED on or off.

navled (1.08)

Sets the alternate function for LEDs on the nav light board.

Nav LEDs enabled:
+ selects nav light
- selects alternate function

-b) Beacon / Flaps up
-l) Landing / Flaps down
-n) Nav / Gear down
-s) Strobe / Gear unsafe
-m) Middle Marker / Flaps down
-o) Outer Marker / Gear down

planes (1.12)

Sets the type of plane displayed on radar and map.

s simulated
a ADS-B, requires receiver
e ESP32-radar / Formation Flight, requires hardware

bandit (1.12)

Sets the speed and turn rate of bandit aircraft.

<entry #> <speed in knots> <turn rate degree/sec>

Example:
bandit 1 100 12

Set speed to 0 to disable plane.
bandit clear   clear all
bandit default set to default

onmap (1.12)

Displays other planes on the moving map. It shows direction and altitude difference in hundreds of feet.

bootdelay (1.10)

Sets how long, in seconds, to show the boot screens.

bootdelay <seconds>

map

Displays, saves, clears, or loads waypoint, airport, and runway map data.

map save    saves current map settings
map clear   clears all map data
map default loads default airports and runways for the Denver area
map <loc>   loads map data for some cities

Currently supports:
den - Denver
sfo - San Francisco
las - Las Vegas

After setting map data, enter map save, then reboot to load the new map.

waypoint

Sets map data for waypoints and VORs. See the instructions for adding waypoints.

Waypoints are designated with W.
VORs are designated with V.

Waypoint draws a triangle.
VOR draws a VOR symbol with a compass rose.

To set waypoint data:
<name> <lat> <lon> <options>

<name>    waypoint/VOR identifier, 4 letter identifier
<lat>     latitude, degree.dddddd up to 6 decimal places
<lon>     longitude, same format, use - for W degrees
<options> V) VOR, otherwise default waypoint

Example:
DEN 39.812524 -104.660750 V

Delete entry:
waypoint <entry #> del

airport

Sets map data for airports, including real airports and model airports. See the instructions for adding airports.

Real airports are designated as B, C, D, or U and will display their airspace on the map.
Model airports are designated with M.

Draws rings to display 400 ft, 100 ft, and 0 ft ceiling limits.
The 100 ft and 0 ft rings are approximate locations. Every airport is unique.

To set airport data:
<name> <lat> <lon> <options>

<name>    airport identifier, 4 letter identifier
<lat>     latitude, degree.dddddd up to 6 decimal places
<lon>     longitude, same format, use - for W degrees
<options> M model airport, D Class D, C Class C, B Class B, U uncontrolled

Example:
KBJC 39.908775 -105.117157 D

Delete entry:
airport <entry #> del

runway (updated with V1.12)

Sets map data for runways. These can be real or model runways. See the instructions for adding runways.

To set runway data, use GPS coordinates from the start and end of the runway.
Use degree.dddddd up to 6 decimal places. Use - for W degrees.

<airport> <lat_start> <lon_start> <lat_end> <lon_end> <width> <options>

<airport>   airport identifier, 4 letter identifier
<lat_start> latitude start
<lon_start> longitude start
<lat_end>   latitude end
<lon_end>   longitude end
<width>     width of runway in feet
<options>   L)eft, R)ight, or C)enter runway

Only the letter from the start of the runway needs to be entered. The opposite letter is automatically designated.

Delete entry:
runway <entry> del

Example:
KBJC 39.901382 -105.101927 39.915299 -105.128423 100 R

home

Sets the home location for power on and simulator. This can be used to fly around and verify other waypoints.

home <lat> <lon>
home set - set current location as home

loadFcWaypoints (1.03)

Loads navigation waypoints from the flight controller at boot.

sim

Enables the simulator. The flight controller must be connected to get MSP data out of it. It gets pitch, roll, and yaw data from the flight controller, simulates airspeed and altitude, and changes based on pitch. If the radio is connected, it will get airspeed from throttle. Direction can be changed with yaw. Pitch and roll can be changed with elevator and aileron, and altitude will change with pitch. Use it to fly around the map and check map data.

sim <on/off>

hidegps

Hides GPS coordinates from the screen.

hidegps <on/off>

version

Displays version information.

dump

Dumps all settings so they can be copied and pasted.

save

Saves settings so they are kept after power is removed.

reboot

Reboots the module without saving unsaved changes.

debug

Debug command.

trace

Turns flight controller MSP serial command tracing on or off for debugging.

trace <on/off>

capture (1.07)

Outputs a Python file that will generate a .data file in RGB565. The file can be opened in Gimp or Photoshop. Select RGB565 Little Endian format and set the width equal to the width of the captured screen.