Command reference (serial interface)

k	calibrates throttle to neutral (needed before any flight)
i <int> <int>	inverts the respective servo (lateral, longitudinal, rotational, vertical)
o <string>	sets the control mask of the RC (e.g.: full manual ‘ff’, all but throttle ‘fb’)
r <int>	rotates to a magnetic direction (-180, 180)
f <int>	goes forward/backward in stabilized hover (-100,100)
g <int>	goes left/right in stabilized hover (-100,100)
b	resets the zero lateral/longitudal angle to the current angles
w <float>	holds the waypoint at altitude in meters
h <float>	hovers the thing at altitude in meters
t <float>	takeoff and start hovering in meters
l	lands the thing
c <int> <float> <float> <float> <float> <float>	sets configuration of pid controller
d	Disengage auto throttle
e	(Re-)Engage auto throttle
s 0/1	turns on/off stabilization
m <int>	Set minimum throttle (-100, 100)
n <int>	Set maximum throttle (-100, 100)
x	stops the thing