Firmwares for Flight Controllers

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

***** Make sure the soldering iron you are using is ESD-safe.  some iron tips may float at arbitrary voltages unless an additional grounding wire is used.  you can easily kill chips when soldering if soldering iron is not grounded properly. *****

Installing Betaflight/INAV/ArduPilot(ChibiOS)

  • BF WIKI – DFU flashing under Windows 
  • Identical theory for INAV/ArduPilot
  • If GPS or other peripherals are connected to UART1 or UART3 of F4/F7/H7 chip and these peripherals 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 3.0 for fw 3.0.x,  use configurator 4.1 for fw 4.1.x
  • Always reset to default with defaults in CLI after each reflashing,  “full chip erase” can not erase old data completely!
  • Start settings from scratch . Don’t try to use a diff or dump from other version.
  • DFU mode can’t be bricked. 

Install DFU Drivers (DFU mode)

—Use one or the other of two—

Zadig 2.8

  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.

Flashing BF/INAV/ArduPilot firmware with STM32CubeProgrammer

FAQ

BetaFlight

INavFlight

ArduPilot

STM32CubeProgrammer