--- title: Change Log slug: legacy-docs-gk-3-0/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). *** ## 3.0.1 - 7th July 2025 Manufacturing enhancement change. No effect in field, functionally the same as 3.0.0. - Improvements for manufacturing end of line testing. ## 3.0.0 - 28th May 2025 ### Major Changes GateKEEPER firmware v3.0.0 is a major update which contains new features, improves existing features and performance, and has many behind the scenes improvements. Re-configuration may be required if updating from previous firmware versions and it is recommended to review the changelogs and documentation in detail. Key breaking configuration changes include: - Motor kV and Motor Pole Pairs are required to be set to use reversible drive mode. - Communications settings have been reworked to support the new Input Priority System. The CANBUS\_EN setting has been depracated. No configuration is required to use either CAN bus or serial (DShot/PWM) signalling. - The advanced settings toggle has been removed and now all settings are immediately configurable over DroneCAN. - Telemetry rate setting has been split between periodic serial telemetry (SER\_TLM\_HZ) and DroneCAN ESC Status telemetry (CAN\_TEL\_STAT\_RTE) Key drive behaviour changes include: - Duty cycles below 2.5% are allowed once the motor is spinning. - Behaviour changed when 'Brake On Stop' disabled, the motor will now immediately disconnect, as opposed to ramping down before disconnecting. - The communications only mode (orange LED) will be entered when a DroneCAN parameter set request is received or a DroneCAN firmware update is started. The unit must be rebooted before drive can resume. ### New Features - **Input Priority System** - The Input Priority System is a feature that enables the motor controller to take in both CAN bus and serial (DShot/PWM) signals at the same time. This enables both signals to be used simultaneously in a fallback scenario, or for either signal to be used without requiring configuration. - **Secondary Arming Switch** - The secondary or physical arming switch provides a physical means to lock out motor drive. When this switch is in the off position the unit will not arm and therefore be unable to drive. - **Motor Starting Beep** - The unit can be configured to beep the motor before drive begins as an additional safety feature. - **Arming and Disarming Beeps** - When enabled the unit will beep on the transitioning between the armed and disarmed states. - **Odometer Logging** - Powered-on time and motor running time are logged and saved on device and can be viewed in the configurator tool. - **More Detailed Logging** - The on-device datalogs include more status flags and log their uptime in ms. Logging fields now include their units. - **Mechanical RPM in Serial Telemetry** - The 'TLM\_RPM\_MECH' toggle has been added. When enabled mechanical RPM, rather than electrical RPM, will be reported in serial/DShot telemetry. - **Configurable Beeps** - With the introduction of the motor starting and arming/disarming beeps. Status, warning and motor starting beeps can be toggled separately. ### Other Changes - A status bit in the DroneCAN ESC Status Extended (1036) message is now used to indicate that propeller parking is active. - UART telemetry format unified to be DShot ESC telemetry when using periodic serial telemetry. - Status LED Changes: - Solid White: Device is initialising. - Solid Orange: Device is in communications only mode. - Fast Flashing Pink: Device is about to restart. - Purple has been modified to a more violet color. - The 'temperature' field in the DroneCAN ESC Status (1034) message is reported at a higher resolution. - Reversible drive performance has been improved. - The 'Configuration Invalid' error has been added to indicate an incorrect device configuration. - DroneCAN debug message formatting has changed for errors and status messages. For example the debug message for the 'Signal Loss' error has change from 'ERR\_13\_Signal\_Loss' (2.1.3) to 'Input Signal Loss' (3.0.0). - The beep indicating the unit is idle and waiting for a signal is no longer separate between CAN and serial signals, it is now unified to the beep used for CAN bus signal waiting on 2.1.3. - The signal acquisiton beep sounds on both initial signal acquisition and on signal re-acquisiton. - Flight computer compatiblity for Bidirectional DShot signalling has been improved. - The minimum output duty cycle is configurable, optionally throttle values below the minimum duty cycle can be truncated. - High eRPM performance improved. ### Bug Fixes - The bit indicating that a custom format is being used in the 'error\_count' field of the DroneCAN ESC Status (1034) message is reset to 0 when all errors are cleared. - A bug that would cause no DroneCAN debug messages to be sent for a period of time and then be sent in a large batch has been resolved. - Improved propeller parking performance, reliability and response to high temperature scenarios. - Duty cycle is no longer limited by the overvoltage limiter when it is disabled. - Fixed brake on stop edge cases. ### Settings Changes **Settings Deprecated** - ADV\_SETTINGS - Advanced Settings Toggle - CANBUS\_EN - CAN Bus Enabled - LOG\_CLR\_HZ\_CHG - Clear Logs on Logging Rate Change - TLM\_EN - Telemetry Enabled - TLM\_FREQ - Telemetry Refresh Rate **Settings Added** - CAN\_SIG\_PRIO - CAN Signal Priority - CAN\_CFG\_W\_ARMED - DroneCAN Allow Configuration When Armed - CAN\_TEL\_STAT\_RTE - DroneCAN Telem Rate - WWDG\_ZER\_THT - Ignore Zero Throttle After Watchdog Event - TLM\_RPM\_MECH - Mechanical RPM in Serial Telemetry - MIN\_DUTY - Minimum Duty Cycle - MOT\_BEEP\_DUR - Motor Beep Duration - MOT\_BEEP\_TO - Motor Beep Timeout - MOT\_BEEP\_EN - Motor Starting Beep Enable - SER\_TLM\_HZ - Periodic Serial Telemetry Rate - REQ\_ALL\_SIG - Require All Signals to Arm - SIG\_FB\_ARMED - Require Signal Armed to Fallback - ARM\_SW\_EN - Secondary Arming Switch Enable - ARM\_SW\_TOUT - Secondary Arming Switch Timeout - SER\_SIG\_PRIO - Serial Signal Priority - STATUS\_BEEP\_EN - Status Beeps Enable - WARN\_BEEP\_EN - Warning Beeps Enable - TRNC\_MIN\_DUTY - Truncate Throttle Below Minimum Duty Cycle **Settings Modified** - ARM\_MSG\_TIMEOUT - DroneCAN Armed Message Timeout Period - Default: 5000 → 1000 - MOT\_POLE\_PAIRS - Motor Pole Pairs - Default: 1 → 0 - Min: 1 → 0 - RPM\_MODE\_KI RPM - Mode Integral Control - Min: 0.001 → 0 - RPM\_MODE\_KP - RPM Mode Proportional Control - Min: 0.001 → 0 \* Requires Hargrave Configurator >=v1.9.0 ## 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 *** ## 2.0.1 - 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