Firmwares for Flight Controllers

CLI “defaults” after reflashing. Firmwares can also be downloaded from BF/INAV configurator

Installing Betaflight/INAV

  • BF WIKI – DFU flashing under Windows 
  • Identical theory for INAV
  • If GPS or other devices are connected to UART1 or UART3 of F4/F7 chip and these devices are powered ON while connecting USB.   FC can’t enter DFU mode. It is related to DFU protocol used in the STM32 bootloader, not hardware and PC driver issue.
  • Make sure INAV firmware version is compatible with configurator version, e.g. use configurator 2.2 for fw 2.2.x,  use configurator 2.5 for fw 2.5.x
  • Always reset to default with defaults in CLI after reflashing,  “full chip erase” can not erase old data completely.

Install DFU Drivers (DFU mode)

—Use one or the other of two—

Zadig 2.4

  1. Connect the FC USB to the PC While holding the boot button in. (DO NOT power on FC via external 5V or Vbat)
  2. Open Zadig
  3. Choose Options > List All Devices
  4. Select STM32 BOOTLOADER in the device list (if instead you see STM32 Virtual Com Port you are not in DFU mode – don’t replace the driver!)
  5. Choose WinUSB (v6.x.x.x) in the box on the right side of the green arrow and click Replace Driver
  6. Unplug FC from the computer
  7. Restart BF/INAV configurator
  8. Connect the FC USB to the PC While holding the boot button in.
  9. BF/INAV configurator should show it’s connected in DFU mode in the top right corner
  10. Choose the latest hex file for your FC and then “Load Firmware Online/local”. Once loaded, click “Flash Firmware”.

ImpulseRC Driver Fixer

  1. Start ImpluseRC Driver Fixer
  2. Connect the FC USB to the PC While holding the boot button in. (DO NOT power on FC via external 5V or Vbat)
  3. The ImpulseRC Driver Fixer should then see and load the proper driver
  4. Start BF/INAV configurator
  5. Connect the FC USB to the PC while holding the boot button in.
  6. BF/INAV configurator should show it’s connected in DFU mode in the top right corner (DO NOT click the CONNECT button)
  7. Choose the latest hex file for your FC and then “Load Firmware Online/local”. Once loaded, click “Flash Firmware”.

Install STM32 VCP Drivers (COM mode)

  • STM32 Virtual Com Port driver   (Windows)
  • STM32 Virtual Com Port driver X64  (Windows)
  • PC devices manager should show “STMicroelectronics Virtual COM Port (COMxx)” if VCP drivers is installed successful.
  •  “FS Mode” is not suitable.
  • If PC drivers manager doesn’t show right COM port,  uninstall it.
  • Restart your computer. reinstall STM VCP drivers without FC connected.  then connect FC USB to the PC to see if COM port can be detected.

Diagnosing FC power/boot issues

Blackbox/SD card tips

  • SD card must be formatted in FAT32. (not exFAT or NTSF).  Windows 10 for ex will not format the card in FAT32 format.  There is a special free program that can be downloaded that will format the SD card in FAT32 format.
  • Once formatted in the FAT32 format only 4 GB will be usable for the Blackbox usage even if the SD card capacity is 16GB, 64GB etc.

BetaFlight

INavFlight

ArduPilot

STM32CubeProgrammer