mwptools CLI Utilities

mwptools provides CLI utilities for INAV development and testing. Located at ~/inavflight/mwptools/.

Installation Check

First, check if tools are installed:

which fc-get cliterm flashgo 2>/dev/null || echo "Not installed"

If not installed:

cd ~/inavflight/mwptools
meson setup _build --prefix=~/.local --strip
ninja -C _build install

CLI Settings Backup/Restore

Backup Settings (fc-get)

# Auto-detect FC and dump settings
fc-get /tmp/my-settings.txt

# With specific device
fc-get -d /dev/ttyACM0 /tmp/my-settings.txt

Restore Settings (fc-set)

# Restore settings (creates timestamped backup of original)
fc-set /tmp/my-settings.txt

# Without backup
fc-set -n /tmp/my-settings.txt

Workflow for firmware update:

1. fc-get /tmp/backup.txt - Save current settings
2. Flash new firmware
3. fc-set /tmp/backup.txt - Restore settings

Interactive CLI Terminal (cliterm)

# Auto-detect and enter CLI
cliterm

# Specific device
cliterm -d /dev/ttyACM0

# SITL connection (localhost:5670)
cliterm -s

# GPS passthrough (for u-center)
cliterm -g

# MSC mode (USB mass storage)
cliterm -m

Key bindings:

• Ctrl-D - Quit CLI without saving
• Ctrl-C - Exit cliterm

Blackbox Download (flashgo)

# Check flash usage
flashgo -info

# Download to auto-generated filename
flashgo

# Download to specific file
flashgo -file my_log.TXT -dir /tmp/

# Download and erase
flashgo -erase

# Erase only
flashgo -only-erase

Common Development Workflows

Before Major Changes

# 1. Backup current settings
fc-get ~/backups/pre-change-$(date +%Y%m%d).txt

# 2. Make firmware changes and flash
./build.sh MATEKF405SE
# ... flash ...

# 3. Restore settings
fc-set ~/backups/pre-change-*.txt

Debug Session with CLI

# Interactive CLI for testing commands
cliterm

# Inside CLI:
# status
# get
# set acc_hardware = AUTO
# save

Blackbox Analysis

# Download logs
flashgo -dir /tmp/blackbox/

# Analyze with mwptools scripts
cd ~/inavflight/mwptools/src/bbox-replay
./inav-parse_bb_compass.rb --plot /tmp/blackbox/LOG00001.TXT

Documentation

Full reference: claude/developer/docs/mwptools-reference.md

Online docs: https://stronnag.codeberg.page/mwptools/