--- title: Change Log slug: legacy-doc-gk2/change-log icon: {"faIcon":"fa-solid fa-table-list"} createdAt: 2024-03-21T00:09:38.766Z --- The firmware releases and their relevant change logs are shown below. Versioning follows [semantic versioning](https://semver.org). *** ## 2.1.0 - 18th July 2024 This release addresses the following ECNS: - [ECN100004](https://assets.hargravetechnologies.com/ecns/ECN100004/ECN100004.html) - Over Temperature Response Default ### Major Changes - **Over Temperature Response** - is now set to **Power Ramp** by default - **Moved** **Settings** -The following settings have been moved between basic and advanced - Advanced -> Basic - Overtemperature Ramp End Temperature (OVT\_RAMP\_TEMP) - Ramp Up Rate (RAMP\_UP\_RT) - Ramp Down Rate (RAMP\_DWN\_RT) - Datalogging Frequency (LOG\_FREQ) - Datalogging Control (LOG\_TYPE) - Max Regeneration Current (REGEN\_BUS\_CUR) - Basic -> Advanced - Auto Timing Advance (AUTO\_TIMING) - Motor Temperature Sensor Enable (MOT\_T\_EN) - RPM Limit Enable (RPM\_LIM\_EN) - Prop Parking Enable (PARK\_EN) ### New Features - **Identify ESC** - The configurator can now toggle a series of beeps and flashes to help identify which esc is being communicated with - **Logging over DroneCAN** - Datalogs on the ESC can now be read over the DroneCAN tunnel - **Variable Logging Data** - The following logging data columns can be enabled or disabled via settings to vary data retention length - Log Phase Current (LOG\_PHASE\_CURR) - Log Power (LOG\_POWER) - Log Voltage Ripple (LOG\_RIPPLE) - Log MCU Temperature (LOG\_MCU\_TEMP) - Log Motor Temperature (LOG\_MOT\_TEMP), requires motor temperature sensor to be enabled - **Motor Parked** - Prop parking triggers a flag in DroneCAN status and log warnings when the motor is parked ### Bugfixes - DroneCan "DISARMED" debug messages are now only sent on state change, or when trying to throttle in a disarmed state - Improved error handling reporting - RPM now properly reports 0RPM rpm when throttle is zero - Phase current properly reports 0A when throttle is zero - DroneCAN Status RPM values now saturate at the max allowable by DroneCAN - Various stability improvements **Subversion Releases:** - 2.1.1 - Hardware Compatability Update - 2.1.2 - Bugfix for new hardware - 2.1.3 - Bugfix for low eRPM motors (requires motor kV and pole pair to be set) *** ## 2.0.1 - 27th June 2024 This patch release addresses the following ECNS: - [ECN100001 ](https://assets.hargravetechnologies.com/ecns/ECN100001/ECN100001.html)- Over Temperature Ramp Response - [ECN100003](https://assets.hargravetechnologies.com/ecns/ECN100003/ECN100003.html) - Noisy CAN Bus Watchdog Restart ### Bugfixes - Over Temperature Ramp End Temperature setting now defaults to 105 degrees Celcius - CAN Bus variable bitrate logic hardened to prevent watchdog restarts *** ## 2.0.0 - 20th May 2024 ### Major Breaking Upgrade Upgrading from firmware \=v1.3.2, \=v2.0.0 ### Breaking Changes - **Prop Parking Speed **- units have been changed to mechanical RPM - **Prop Parking Strength** - setting has been split into two settings based on function - Prop Parking Turning Strength - power applied to bridge when parking - Prop Parking Stopping Strength - power applied to bridge when parked ### New Features - **RPM Mode** - New drive mode to set the motor to spin to a target speed setpoint (otherwise known as governor mode, speed control, heli mode, speed governor) - **Hargrave Configurator DroneCAN support**\* - Support for changing settings and applying presets from the Hargrave Configurator through DroneCAN devices (e.g. CubeOrange). - **DroneCAN variable baud rate support**\*\* - Support for common baudrates less than 1Mbps. ### Bugfixes - CAN Terminator improvements - CAN will disconnect from network if incompatible bit rate detected **Subversion Releases:** - 2.0.1 - CAN and Overtemperature Response Bug Fixes \* Requires Hargrave Configurator >=v1.4.0 \*\* Power cycling all ESCs is required between baud rate changes. It is recommended to setup esc configuration via usb or on a separate dronecan network before attaching to existing peripherals. *** ## 1.3.0 - 22nd Mar 2024 - Allow naming of ESC for log file identification. - PTC setting option added. - UART packet structure changes. - Reversible drive mode improvements. - DroneCAN boolean save logic reworked. - Propeller parking sub-system improvements. - Further starting improvements. - Minor bug fixes. **Subversion Releases:** - 1.3.1 - Hardware compatibility update. - 1.3.2 - 2.0.0 upgrade compatibility. *** ## 1.2.0 - 12th Mar 2024 - Improvements to bus current calibration and reporting. - Addition of regenerative current calibration. - Motor temperature sensing range increased. - Regenerative current range increased. - Communications protocol changes for config tool. **Subversion Releases:** - None *** ## 1.1.0 - 18th Jan 2024 - Default maximum switching frequency increased, improve starting performance. - Temperature ramp setting limit increases. - Add PTC motor temperature calculations. - Add PWM jitter functionality. - Calibration corrupt warning added. - Allow DroneCAN updates when unit is in an error state. **Subversion Releases:** - 1.1.1 - Hardware compatibility update. *** ## 1.0.0 - 10th Nov 2023 - Initial production release of microDRIVE firmware. **Subversion Releases:** - None