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CLI Reference

Fidelity X provides a command line interface (CLI) for configuration and debugging.

Connection

Connect via USB virtual serial port:

Parameter	Value
Baud rate	115200
Data bits	8
Stop bits	1

Basic Commands

Command	Function
`help`	Show all commands
`status`	System status overview
`version`	Firmware version info
`reboot`	Restart system
`bootloader`	Enter DFU mode

Parameter Commands

Command	Function
`param list`	List all parameters
`param get <name>`	Get parameter value
`param set <name> <value>`	Set parameter
`param save`	Save to Flash
`param load`	Load from Flash
`param reset`	Reset to defaults

Safety System Commands

Command	Function
`failsafe status`	Show safety system status
`failsafe test rc`	Test RC loss response
`failsafe test arming`	Test arming conditions
`failsafe reset`	Reset safety system state

Motor Commands

Command	Function
`motor test <motor#> <throttle>`	Test single motor
`motor stop`	Stop motor test
`motor info`	Show motor configuration

Example:

motor test 1 0.1    # Motor 1, 10% throttle
motor stop

Calibration Commands

Command	Function
`accel_cal`	Calibrate accelerometer

Sensor Commands

Command	Function
`imu info`	IMU sensor information
`imu data`	Real-time IMU data

RC Commands

Command	Function
`rc info`	RC configuration info
`rc data`	Real-time RC channel data

Log Commands

Command	Function
`glog status`	Blackbox log status
`glog start`	Start recording
`glog stop`	Stop recording
`msc`	Enter USB storage mode to export logs

Shortcuts

Shortcut	Function
Tab	Command completion
↑ / ↓	History
Ctrl+C	Cancel current command

Common Parameters Reference

PID Parameters

Parameter	Default	Description
`PID_ROLL_P`	45	Roll P gain
`PID_ROLL_I`	80	Roll I gain
`PID_ROLL_D`	35	Roll D gain
`PID_PITCH_P`	45	Pitch P gain
`PID_PITCH_I`	80	Pitch I gain
`PID_PITCH_D`	35	Pitch D gain
`PID_YAW_P`	45	Yaw P gain
`PID_YAW_I`	80	Yaw I gain

Filter Parameters

Parameter	Default	Description
`GYRO_LPF_CUTOFF`	100	Gyro filter cutoff frequency
`D_TERM_LPF_CUTOFF`	80	D-term filter cutoff frequency

Safety System Parameters

Parameter	Default	Description
`FS_RC_LOSS_STAGE_1_TIME`	150	RC loss stage 1 time (ms)
`FS_BAT_WARN_V`	14.4	Battery warning voltage
`FS_BAT_CRIT_V`	13.2	Battery critical voltage