MCP server SmartTune

---

Pip-install SmartTune, point it at a flight log, and your agent comes back with exact parameter deltas — validated against real firmware parameter tables.
No more guessing: stune params --validate checks every recommendation before it reaches the user.

Under the hood: ArduPilot step-response analysis replicates WebTools PIDReview.js via Wiener deconvolution. Betaflight blackbox logs are parsed by a 1000+ line pure-Python decoder (no C extensions, no Node.js). All three platforms output to one FlightData dataclass so analyzers work identically across APM/BF/PX4. The 6-layer knowledge base is plain JSON — agents can read rules and propose new ones by editing ~/.smarttune/knowledge/.

---

Install

pip install git+https://github.com/raylanlin/smarttune-cli.git

# With all platform extras
pip install "git+https://github.com/raylanlin/smarttune-cli.git#egg=smarttune[all]"

# Development
git clone https://github.com/raylanlin/smarttune-cli.git
cd smarttune-cli
pip install -e ".[dev,all]"

Requires Python 3.9+

---

For Agents

SmartTune was designed specifically for LLM agent tool-calling workflows. Every aspect of the CLI follows agent-friendly principles:

Principle	Implementation
Deterministic output	No interactive prompts, no TUI, no progress bars when piped to files. Same input → same output.
Structured by default	JSON on stdout via --format json (CLI) or smarttune_analyze_log (MCP) — one shared schema. Markdown/HTML via --report md|html. No parsing fragile ANSI-escaped terminal dumps.
Self-describing	stune platforms lists available adapters. Error codes are standardized (E10xx–E50xx). Exit codes are meaningful.
Fail-fast & isolated	Single-module failure doesn't abort the full analysis. Each module gets its own try/except block.
Config-free	Zero config files needed. Everything is flags or auto-detected. No env vars required.
Offline-first	No network calls. No API keys. No rate limits. Safe for isolated/air-gapped environments.
Machine-recommendable	Tuning suggestions include confidence scores and reasoning, not just parameter values. Agents can weigh multiple recommendations.

What agents can learn through SmartTune

SmartTune isn't just a tool agents call — it's how agents learn the craft of flight controller tuning:

Skill	How SmartTune teaches it
PID tuning intuition	Step-response analysis with confidence scores. Agents learn which overshoot/rise-time patterns call for higher Kp vs. damping.
Frequency-domain reasoning	FFT spectra with peak detection. Agents learn to distinguish vibration sources (prop/ motor/ frame resonance) from the spectrum shape.
Filter design logic	Notch and low-pass filter recommendations with Bode plots. Agents see the tradeoff between filtering and phase lag.
Platform differences	ArduPilot vs Betaflight parameter conventions. ParamRef maps between them — agents learn to translate tuning knowledge across platforms.
Safety awareness	All recommendations are capped at ±25%. Agents learn conservative tuning by default.
Rule-based reasoning	The 6-layer knowledge base is plain JSON. Agents can read, understand, and even propose rule changes by writing to their user layer.

What agents can do with SmartTune

• Batch analysis — analyze hundreds of logs with a loop; JSON output per file
• Auto-tuning — feed recommendations back into a flight controller via MAVLink or CLI
• Fleet monitoring — aggregate vibration/PID metrics across multiple aircraft
• CI/CD integration — run stune analyze as part of a pre-flight validation pipeline
• Collaborative diagnosis — have the agent compare logs from before/after a crash

MCP Server (Model Context Protocol)

SmartTune includes a read-only MCP server that lets LLM agents call analysis tools directly — no shell, no subprocess, no arbitrary file writes.

MCP requires Python 3.10+ (the MCP SDK does not support 3.9). The stune CLI itself still runs on Python 3.9. On 3.9, pip install ".[mcp]" silently skips the mcp package and smarttune-mcp explains why instead of crashing.

Install with MCP support:

pip install -e ".[all,mcp]"

Run the MCP server:

smarttune-mcp          # stdio transport (for agent frameworks)
# or
python -m smarttune.mcp_server

Available MCP tools (16 total):

Tool	Purpose
smarttune_list_platforms	List supported platforms, extensions, and capabilities
smarttune_log_quality	Parse log and return quality score, data availability, validation issues
smarttune_analyze_log	Full analysis (PID + FFT + Filter + Mag + SysID + Hardware) as JSON/Markdown
smarttune_analyze_pid	PID step response analysis per axis
smarttune_analyze_fft	FFT vibration spectrum with peak detection
smarttune_analyze_magfit	Magnetometer calibration analysis
smarttune_analyze_sysid	ARX system identification (natural freq, damping ratio)
smarttune_analyze_filter	Filter transfer function analysis (Bode plot data)
smarttune_analyze_hardware	Hardware configuration report
smarttune_generate_plot	Generate analysis chart as base64 PNG
smarttune_list_param_groups	NEW v3.2 — Browse a platform's parameter groups (start here)
smarttune_list_params	List parameters in one group or category — compact rows
smarttune_get_param	NEW v3.2 — Full definition of one parameter, incl. what each enum value means
smarttune_search_params	Ranked keyword search across names, descriptions and enum labels
smarttune_validate_param	⚠️ Validate one param name + value (enum membership as well as range)
smarttune_validate_params	NEW v3.2.1 — Validate a whole recommendation set in one call

All tools are annotated readOnlyHint=True, destructiveHint=False, idempotentHint=True.

Response contract (v3.2) — one shape for every tool, so clients branch on fields instead of prose:

{ "ok": true,  "platform": "ArduPilot", "...": "payload" }
{ "ok": false, "error_code": "E3002", "message": "Insufficient PID data in log",
  "hint": "…", "retryable": false }

A rejected parameter value is a successful call with valid: false plus a verdict field (ok / not_found / out_of_range / not_a_member / not_an_integer / unverifiable) — not a transport error. All six parameter tools accept fw_version (e.g. "copter-4.5"; unknown versions return E4011 with the available list). And as of v3.2.1 the analysis tools attach validated / validation_status to every recommendation they return, so the "always validate before recommending" rule is enforced by the payload itself; explicit validation is only needed for values the agent adjusted afterwards. stdout carries JSON-RPC only: every service call runs with stdout redirected to stderr, so a stray print from a third-party log parser can no longer corrupt the stream.

⚠️ Parameter validation is mandatory. Before recommending ANY parameter change, call smarttune_validate_param(param_name, value, platform). It checks enum membership as well as numeric range, and returns a status: ok / not_found / out_of_range / not_a_member / not_an_integer / unverifiable. unverifiable means the table cannot confirm the value — the call did not approve it. This prevents agents from suggesting parameters that don't exist in the target firmware — a critical issue because:

• Betaflight 4.5+ renamed many parameters (d_min_roll → d_max_roll, gyro_lowpass_hz → gyro_lpf1_static_hz)
• Parameter names differ between firmware versions
• Some parameters have strict value ranges that must be respected

Security boundary:

• No shell execution — library calls only
• No arbitrary file writes — results are returned inline
• No parameter mutation — no MAVLink writes, no firmware flashing
• Path validation — allowed roots, extensions (.bin, .log, .tlog, .bbl, .bfl, .ulg), file size limits, symlink resolution
• Configurable via environment variables:

export SMARTTUNE_MCP_ALLOWED_ROOTS="/path/a:/path/b"
export SMARTTUNE_MCP_MAX_FILE_MB="300"

OpenClaw / Claude Desktop configuration:

{
  "mcp": {
    "servers": {
      "SmartTune": {
        "command": "smarttune-mcp",
        "args": [],
        "env": {
          "SMARTTUNE_MCP_ALLOWED_ROOTS": "/home/user/.openclaw/workspace/files/inbox:/home/user/.openclaw/workspace/files/output:/tmp",
          "SMARTTUNE_MCP_MAX_FILE_MB": "300"
        }
      }
    }
  }
}

---

Quick Start

# Full analysis (auto-detect platform)
stune analyze -i flight.bin

# With charts (human-friendly)
stune analyze -i flight.bbl --visual

# Per-module deep dive
stune pid -i flight.bin -a roll --visual
stune fft -i flight.bin --visual
stune magfit -i flight.bin
stune sysid -i flight.bin -a pitch
stune hardware -i flight.bin

# Export to Markdown report
stune analyze -i flight.bin --report md -o report.md

# Export to HTML report
stune analyze -i flight.bin --report html -o report.html

# List supported platforms
stune platforms

# Machine-readable output (same schema as the MCP server)
stune analyze -i flight.bin --format json

# Run a subset of modules / cap recommendations
stune analyze -i flight.bin --modules pid,fft --max-recommendations 10 -f json

---

Output Formats

SmartTune supports multiple output formats, each designed for a specific consumption mode:

Format	Use Case	Example
Terminal	Human inspection in the shell	stune analyze -i flight.bin
JSON	Agent/script consumption	stune analyze -i flight.bin --format json
Markdown	Reports, READMEs, documentation	stune analyze -i flight.bin --report md -o report.md
HTML	Visual reports with embedded charts	stune analyze -i flight.bin --report html -o report.html

--format json 🆕 v3.1

Every analysis command takes -f/--format json. The payload comes from the same services-layer functions the MCP server calls, so CLI JSON and MCP JSON are the same schema — no second serializer to drift.

stune analyze -i flight.bin -f json | jq '.modules.pid.axes.roll'
stune pid      -i flight.bin -f json -a roll
stune fft      -i flight.bin -f json
stune quality  -i flight.bin -f json -o quality.json
stune filter   -i flight.bin -f json
stune params --search notch -f json
stune platforms -f json

Contract:

Guarantee	Detail
stdout is JSON only	Progress, hints and error panels go to stderr — | jq never chokes. -o file.json writes the payload to a file instead.
Envelope	schema_version, tool {name, version}, command, status, generated_at, then the command's own fields.
Errors are JSON too	status: "error" + error {code, type, message, hint}, exit code 1. No screen-scraping the failure path.
Strict JSON	NaN/Infinity are emitted as null — safe for strict parsers.
Reproducible	SMARTTUNE_DETERMINISTIC=1 omits generated_at so runs diff byte-for-byte in CI.

{
  "schema_version": "1.0",
  "tool": { "name": "smarttune", "version": "3.1.0" },
  "command": "pid",
  "status": "error",
  "error": {
    "code": "E3002",
    "type": "InsufficientPIDDataError",
    "message": "Insufficient PID data in log",
    "hint": ""
  }
}

JSON output example

{
  "platform": "ArduPilot",
  "timestamp": "2026-05-03T22:30:00",
  "pid": {
    "roll": {
      "rating": "GOOD",
      "confidence": 0.87,
      "kp": {"current": 0.12, "recommended": 0.14, "reason": "Slight oscillation at 8 Hz"},
      "ki": {"current": 0.05, "recommended": 0.05, "reason": "No steady-state error"},
      "max_overshoot_pct": 8.2,
      "rise_time_ms": 85,
      "settling_time_ms": 210
    }
  },
  "fft": {
    "vibration": {
      "level_rms": 2.1,
      "grade": "EXCELLENT"
    },
    "peaks": [
      {"freq_hz": 47.5, "magnitude_db": -12.3, "source": "propeller"}
    ]
  }
}

---

Commands

stune analyze

Full-spectrum analysis: PID + FFT + MagFit + hardware — all in one pass.

stune analyze -i flight.bin                           # Auto-detect
stune analyze -i flight.bbl --platform betaflight      # Force platform
stune analyze -i flight.bin --visual                   # With charts
stune analyze -i flight.bin --report md -o report.md   # Markdown export
stune analyze -i flight.bin --report html -o report.html  # HTML export

stune pid

PID step-response analysis with per-axis tuning recommendations.

stune pid -i flight.bin                                # All axes
stune pid -i flight.bin -a roll                        # Single axis
stune pid -i flight.bbl --visual                       # Betaflight

stune fft

Frequency-domain vibration analysis with notch filter suggestions.

stune fft -i flight.bin                                # Full spectrum
stune fft -i flight.bin --visual                       # With spectrum plot

stune magfit

Magnetometer calibration — hard/soft iron offset, coverage, field strength.

stune magfit -i flight.bin                             # ArduPilot only

stune sysid

ARX system identification — natural frequency and damping ratio.

stune sysid -i flight.bin -a roll                      # Single axis
stune sysid -i flight.bin -a pitch --na 4 --nb 3       # Custom order

stune hardware

Full hardware configuration report: firmware version, sensors, battery, parameters.

stune hardware -i flight.bin
stune hardware -i flight.bbl

stune filter

Filter chain analysis with Bode plots.

stune filter -i flight.bin --gyro-filter 40 --visual
stune filter -i flight.bin --auto                     # Auto-derive from params

stune platforms

List all available platform adapters and their capabilities.

stune platforms

stune params — firmware parameter tables

Browse, look up, search and validate real firmware parameters. Tables are generated from official firmware metadata by tools/build_param_tables.py — see Parameter tables.

# What's available
stune params                          # tables, param counts, group counts, firmware

# Browse by parameter group (the firmware's own grouping)
stune params ap --groups               # 194 ArduPilot groups
stune params ap --group ATC_           # attitude controller group
stune params bf --group PID_PROFILE    # Betaflight PG_PID_PROFILE
stune params px4 --group "Multicopter Rate Control"

# Pick a firmware-version table (default: Copter-4.1 for ArduPilot)
stune params ap --fw-version copter-4.5 --group ATC_
stune params --validate ATC_RAT_RLL_P 0.45 -p ap --fw-version copter-4.5   # 4.5: max 0.5

# Browse by topic
stune params ap -c pid                 # pid / filter / mag / battery / rate / …

# One parameter: description, range, default, and what each enum value MEANS
stune params BATT_MONITOR
stune params MC_ROLLRATE_P

# Ranked keyword search — names, descriptions and enum labels
stune params --search notch
stune params --search "analog voltage"        # finds BATT_MONITOR

# ⚠️ Validate before recommending (exit 0 = valid, 1 = invalid)
stune params --validate BATT_MONITOR 4 -p ap     # ✓ 4 = Analog Voltage and Current
stune params --validate BATT_MONITOR 99 -p ap    # ✗ not a valid value (lists allowed)
stune params --validate p_roll 999 -p bf         # ✗ exceeds max 250

# Validate a whole recommendation set in one call (exit 0 only if all valid)
echo '[{"param":"BATT_MONITOR","value":4},{"param":"p_roll","value":45}]' \
  | stune params --validate-batch - -p ap

# Data health (CI gate)
stune params --lint                    # exit 1 if any table has defects

Every subcommand supports -f json.

Supported Platforms

Platform	Log Format	Parser	Status
ArduPilot	.bin / .log (onboard DataFlash)	pymavlink	✅ Full support
ArduPilot	.tlog (GCS telemetry) 🆕 v3.4	pymavlink	⚠️ Screening only — see below
Betaflight	.bbl / .bfl (Blackbox)	Pure Python	✅ Full support
PX4	.ulg (ULog)	pyulog	✅ PID / FFT / SysID / Quality (v3.0+)

Telemetry logs (.tlog) 🆕 v3.4

A .tlog is what Mission Planner / MAVProxy / QGroundControl records over the radio link — a fundamentally thinner source than the onboard log, and SmartTune treats it that way:

	onboard .bin	telemetry .tlog
Written by	flight controller (SD card)	ground station (PC)
Rate	loop rate, 400 Hz+, lossless	stream rates, 1–50 Hz, lossy
Rate controller	PIDR/PIDP/PIDY with P/I/D terms	not streamed at all
Gyro	IMU at 400 Hz+	RAW_IMU/ATTITUDE, 2–50 Hz
Coverage	whole flight	only while the link was up

stune quality -i "2026-09-13 10-00-00.tlog"    # states every limit up front
stune analyze -i flight.tlog -f json | jq '.telemetry_notes'

What SmartTune does with one:

• PID is reconstructed from ATTITUDE_TARGET (desired body rates) vs ATTITUDE (actual). P/I/D term breakdown does not exist in telemetry, so those series read zero — like the existing legacy-RATE fallback. If the vehicle never streamed ATTITUDE_TARGET, PID analysis is skipped with a reason, not faked.
• FFT is band-limited by the stream rate: a 10 Hz stream can only show 0–5 Hz, far below the 40–120 Hz band where prop and frame resonances live. The report says so.
• Parameters only exist if the GCS downloaded them during the recording.
• Radio dropouts, missing accel stream, and EKF-filtered rate sources are all reported in telemetry_notes (JSON) or the "Telemetry Log Limits" block (terminal).
• A .tlog recorded from a PX4 vehicle is refused with a pointer to the onboard .ulg.

Every caveat is scored: telemetry logs cannot reach the top quality bands, and quality.advice points at the onboard log for tuning work.

Auto-Detection

SmartTune identifies your log format from file headers — no --platform flag needed:

Bytes	Platform
0xA3 0x95	ArduPilot DataFlash
8-byte timestamp + 0xFD/0xFE	ArduPilot MAVLink telemetry (.tlog)
H Product:Blackbox	Betaflight Blackbox
ULog magic	PX4 ULog

---

Architecture

┌─────────────────────────────────────────────┐
│  CLI Layer                                   │
│  stune analyze / pid / fft / ...            │
│  --report md / html                          │
└──────────────────┬──────────────────────────┘
                   │
┌──────────────────┤  ┌───────────────────────┐
│                  │  │  MCP Server (stdio)    │
│                  │  │  smarttune-mcp         │
│                  │  │  JSON / Markdown out   │
│                  │  │  Read-only · No shell  │
│                  │  └───────────┬───────────┘
│                  │              │
│  ┌───────────────▼──────────────▼────────────┐
│  │  Services Layer (shared)                   │
│  │  services/analysis.py · services/serialize │
│  └───────────────┬──────────────────────────┘
│                  │
┌──────────────────▼──────────────────────────┐
│  Platform Adapter Layer                      │
│  ArduPilot · Betaflight · PX4               │
│  Parsers → FlightData (unified IR)          │
└──────────────────┬──────────────────────────┘
                   │
┌──────────────────▼──────────────────────────┐
│  Analysis Engine (platform-aware)            │
│  PID / FFT / SysID / MagFit / Filter / HW   │
│  Per-platform modules:                       │
│    ardupilot/  → WebTools-aligned FFT        │
│    betaflight/ → Wiener deconvolution FFT    │
│    px4/        → stubs                       │
│  BF: Feedforward · RPM Filter · D-term      │
│  Protocol-based interface constraints        │
└──────────────────┬──────────────────────────┘
                   │ AnalysisResult + ParamRef
┌──────────────────▼──────────────────────────┐
│  Knowledge Base (6-layer deep merge)         │
│  common → platform → user → Pro             │
│  JSON-based rules — inspectable & editable   │
└──────────────────┬──────────────────────────┘
                   │
┌──────────────────▼──────────────────────────┐
│  Output Layer                                │
│  Terminal (Rich) / JSON / Markdown / HTML    │
│  ParamRef → platform-native parameter names  │
└─────────────────────────────────────────────┘

---

Knowledge Base

A 6-layer deep-merge rule engine powers all tuning recommendations. Each layer overrides the previous:

#	Layer	Location	Editable
1	Common physics rules	smarttune/knowledge/rules/common/	❌ Built-in
2	Platform rules	smarttune/knowledge/rules/{platform}/	❌ Built-in
3	User common	~/.smarttune/knowledge/common/	✅
4	User platform	~/.smarttune/knowledge/{platform}/	✅
5	Pro common	smarttune-knowledge-pro (optional)	🔒
6	Pro platform	smarttune-knowledge-pro (optional)	🔒

Rules are standard JSON files. Add a file, restart the command, and the engine picks it up. No compilation, no database, no setup.