Using the Command Line Interpreter (CLI) to configure ArduCopter

You don't need to use the Mission Planner to set up ArduCopter (and there are some advanced configuration options not covered by the Mission Planner). You can also use APM's built-in Command Line Interpreter (CLI) over a serial terminal, which will work on any computer and operating system.

You will also need to use the CLI for such functions as assigning your preferred flight modes to your RC transmitter's toggle switches. See the menu descriptions below for instructions.

The way to switch APM into CLI mode is to reboot the board with the slider switch back toward the RC pins, as shown on the right below (return the CLI switch to the forward position to fly or use the graphical setup in the Mission Planner):

Don't forget to reset the board to restart it when you change slider switch positions. You can do that by pressing the reset button:

Once you have rebooted APM with the slider in the CLI postion, you can use its text menus with any serial monitor running at 115600 baud. We recommend the Terminal built into the Mission Planner, which you can find here:

When you open it, it will look like this:

http://ardupilot-mega.googlecode.com/svn/ArduPilotMegaImages/AC2_CLI.PNG

If you're not using Windows, you can also use the Serial Monitor built into Arduino (remember to select the right baud rate and enable CRs as shown here):

Once you are in the CLI, you can type "help" at any menu and get a full list of available commands.

There are three top-level menus: Setup, Test and Logs.

http://ardupilot-mega.googlecode.com/svn/ArduPilotMegaImages/CLI1.PNG

Each has sub-menus, whose command can also be seen by typing "help" when you are in that section.

Setup Menu

http://ardupilot-mega.googlecode.com/svn/ArduPilotMegaImages/CLI2.PNG

CLI interactive setup - You must go through each item and set the values to match your hardware

"setup" menu:commands:

• erase: When installing ACM for the first time, run this to erase bad values from EEPROM -- just in case!
• reset: Performs factory reset and initialization of EEPROM values
• radio: Records the limits of ALL radio channels - very important!!!
• motors: Interactive setup of your ESC and motors. Enter this mode, then plug-in battery, move your RC transmitter's pitch/roll sticks in each direction to make the prop in that direction spin (so moving the stick up will make the front rotor spin on a quad, and moving it right will make the right rotor spin). For copters with more than four motors, it will spin groups of motors, with the one closest to the direction of the stick going fastest.
• level: Sets initial value of accelerometers - hold copter level
• modes: Sets the flight modes assigned to each switch position (you have 5 available). Use your aileron/roll stick on your RC transmitter to scroll through the options. Full right moves forward through the list; full left moves back. Hit enter to save your settings and exit this mode.
• frame: Sets your frame config: (x, +, v (Octo))
• current: Enables an AttoPilot current sensor: (on, off, milliamp hours)
• sonar: Enable sonar sensor. Sensor hooks to the "pitot" port which is an analog input (on, off). See installation details here.
• compass: Enables the compass (on, off)
• declination: Sets your local declination value -- lookup online for accuracy (decimal degrees)
• show: A formatted output of all the settings

Test Menu

http://ardupilot-mega.googlecode.com/svn/ArduPilotMegaImages/CLI3.PNG

"test" menu commands:

• pwm: Outputs the pwm values of all 8 radio channels
• radio: Outputs the control values of all 8 radio channels in degrees x 100 or other value (see radio.pde)
• failsafe: (Not currently used)
• stabilize: Lets you test the stabilization with debugging output to the terminal (may spin the props -- not recommended for flying).
• gps: Outputs GPS data. Note: typically you must be outside to get GPS lock. It can take two minutes or more to achieve lock at first power on.
• adc: Outputs raw adc values
• imu: Outputs euler angles
• battery: Outputs voltage readings to analog in 0-3
• tune: (Not currently used)
• current: Outputs voltage and current from an AttoPilot current sensor. Motors will spin, so disconnect your four-wire cable or take off your props!
• relay: Toggles the relay
• waypoints: Dumps stored waypoint commands
• altitude: Displays output from onboard barometric pressure sensor
• sonar: Displays output from sonar sensor (if attached and enabled)
• compass: Outputs compass angles in degrees (0 = north)
• xbee: Outputs an XBEE sequence used for range testing
• eedump: Raw output of bytes in EEPROM
• rawgps: Outputs raw, unparsed GPS data
• mission: Writes a default mission to EEPROM (null, 'wp'). Choosing 'wp' option will send the copter 15 meters North and back again.

Logs Menu

http://ardupilot-mega.googlecode.com/svn/ArduPilotMegaImages/CLI4.PNG

"logs" menu commands:

See the datalogging manual page to better understand how to dump logs and how to set the types of data you want to record.