BF, INAV, ArduPilot Firmwares for FC series

Firmwares for FC series

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

Drivers & Github

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 F405/F722 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.
Be sure INAV firmware version is compatible with configurator version, e.g. use configurator 2.2 for fw 2.2.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 2.3

Connect the FC USB to the PC While holding the boot button in. (DO NOT power on FC via external 5V or Vbat)
Open Zadig
Choose Options > List All Devices
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!)
Choose WinUSB (v6.x.x.x) in the box on the right side of the green arrow and click Replace Driver
Unplug FC from the computer
Restart BF/INAV configurator
Connect the FC USB to the PC While holding the boot button in.
BF/INAV configurator should show it’s connected in DFU mode in the top right corner
Choose the latest hex file for your FC and then “Load Firmware Online/local”. Once loaded, click “Flash Firmware”.

ImpulseRC Driver Fixer

Start ImpluseRC Driver Fixer
Connect the FC USB to the PC While holding the boot button in. (DO NOT power on FC via external 5V or Vbat)
The ImpulseRC Driver Fixer should then see and load the proper driver
Start BF/INAV configurator
Connect the FC USB to the PC while holding the boot button in.
BF/INAV configurator should show it’s connected in DFU mode in the top right corner (DO NOT click the CONNECT button)
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

Click Diagnosing FC

BetaFlight

INavFlight

ArduPilot

F405-CTR, F405-STD, F405-mini

BetaFlight Unified Target

BetaFlight Target MATEKF05

After flashing BF4.0, MUST set F405-STD & F405-mini first gyro to CW180 in configurator if arrow is facing forward

Keep default CW270 for F405-CTR if arrow forward

Betaflight_4.1.0_MATEKF405

INAV Target MATEKF05

inav_1.9.1_MATEKF405 Fix overflow in currentSensorToCentiamps (Softserial_TX1 is on TX4 pad if CPU based serial port is enabled)

inav_2.0.1_MATEKF405
inav_2.1.0_MATEKF405 official
inav_2.2.1_MATEKF405 official
Softserial_TX1 is on TX4 pad & Softserial_TX2 is on TX2 pad if CPU based serial port is enabled since 2.0.1

Wiki INAV MATEKF405 family

INAV Target MATEKF405OSD for F405-OSD

The F405-OSD does not expose I2C. For iNav there is a software I2C provision using the USART3 pads, as:

SDA => RX3, SCL => TX3
Do not assign any serial function to USART3

ArduPilot(ChibiOSD) Mateksys F405-STD and variants

http://firmware.ardupilot.org/
ArduPilot (ChibiOS) Target MatekF405 for F405-CTR
ArduPilot (ChibiOS) Target MatekF405-STD for F405-STD and F405-mini

F405-WING

F411-mini, F411-WING

BetaFlight Unified Target

F411-mini MTKS-MATEKF411

BetaFlight Target MATEKF411

INAV Target MATEKF411

INAV Target variant

`MATEKF411_SFTSRL2`

if you want to use two softserials (TX only) at the same time. Eg. VTX control + S. Port
softserial_tx1 on ST1 pad, softserial_tx2 on LED pad

`MATEKF411_RSSI`

if you want to have analog RSSI input on ST1 pad. softserial_tx1 will be available on the LED pad.

MATEKF411_FD_SFTSRL

if you need the softserial to be full-duplex (TX = ST1 pad, RX = LED pad), at the cost of losing the LED output.

F411-ONE

F722-STD

F722-SE, F722-mini, F722-WING

BetaFlight Unified Target

BetaFlight Legacy Target MATEKF722SE

Betaflight_3.5.7_MATEKF722SE
Betaflight_4.1.0_MATEKF722SE
S5 doesn’t work for Hex/Octo motor due to normal DMA confliction if RPM filter is enabled

INAV Target MATEKF722SE for F722-SE & F722-WING

inav_2.1.0_MATEKF722SE official
inav_2.2.1_MATEKF722SE official

INAV Target MATEKF722MINI for F722-mini

inav_2.1.0_MATEKF722MINI official
inav_2.2.1_MATEKF722MINI official

INAV Target Tips

S5 doesn’t work for Hex/Octo motor due to normal DMA confliction if Dshot is selected
Use multishot for Hex/Octo copter
BF uses burst DMA, no confliction between S1 ~S8 Dshot

I2C bus speed selection

Some I2C sensors are reported to work unreliably on default 400kHz speed. INav allows to reduce I2C clock rate to 200kHz and 100kHz to allow these picky sensors to function properly.
If compass sensor is not recognized or hangs when setting, please try CLI command “set i2c_speed = 200KHZ” before reporting a bug.

F411-WSE, F411-miniSE

F765-WING

ArduPilot Target MATEKF765-WING

INav Target MATEKF765

TARGET_BOARD_IDENTIFIER “M765”
inav_2.2.2_MATEKF765 Inav development branch, Aug.10
Download inav_2.3 or latest version from INAV configurator

BetaFlight Target MATEKF765

TARGET_BOARD_IDENTIFIER “M765”
betaflight_4.1.0_MATEKF765 stable BF4.1.0

Tutorial

Firmwares for FC series

Installing Betaflight/INAV

BF WIKI – DFU flashing under Windows

Install DFU Drivers (DFU mode)

Zadig 2.3

ImpulseRC Driver Fixer

Install STM32 VCP Drivers (COM mode)

Diagnosing FC power/boot issues

BetaFlight

INavFlight

ArduPilot