Change Log
The firmware releases and their relevant change logs are shown below.
Versioning follows semantic versioning.
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3.1.0 - 24th September 2025
Build Hash: a58fcaeb
Major Changes
GateKEEPER firmware v3.1.0 brings a brand new ARINC825-4 compatible CAN 2.0B control protocol, as well as improved prop parking and more flexible stopping/braking options. This patch also inclues minor fixes and improvements for rpm mode, rpm limiting, and motor temperature limiting.
Configuration changes to note:
- Brake on Stop has been replaced by Stopping Behaviour
New Features
- ARINC825 CAN Protocol - CAN 2.0B protocol that adheres to the ARINC825-4 specification. This protocol can be used in place of dronecan to drive, configure and update the device.
- Flexible Stopping Behavior - Stopping behavior (when the motor approaches 0 erpm) is now configurable, allowing for selection between freewheeling, passive braking and active holding.
- Flexible Arming Behaviour - When the unit arms, prop parking or stopping behavior can be set to activate immediately. This can cause props to move as soon as power is applied.
- Gradual Braking - New option to gradually apply passive braking force, useful for larger inertial loads. Requires AFW/regeneration.
- Adjustable Beep Volume - Beep volume has been made to be adjustable and can be normalised.
Other Changes
- RPM Mode will not function without motor pole pairs being set.
- Increased default DroneCAN arming packet timeout.
- Reversible dshot throttle packets are now parsed and accepted.
- Hardware version is now reported through DroneCAN GetNodeInfo.
Bug Fixes
- Motor temperature limiter has been improved.
- Prop parking has been improved to be more reliable and achieve higher accuracy when setting angular offsets.
- RPM Limiter has been improved.
- RPM tracking when freewheeling has been improved.
- DroneCAN Status error_count field no longer sets bit 31 when a flag is set.
- Communications Mode LED color has been modified to appear less red.
Settings Changes
Settings Deprecated
- PARK_STOP_STR - Prop parking stop strength, replaced by ACTV_HLD_STR
- BRK_ON_STOP - Brake on Stop, replaced by STOP_BEHAV
Settings Added
- ACTV_HLD_STR - Active Hold Strength
- BEEP_VOLUME - Beep Volume
- CAN_PROTOCOL - CAN Protocol Selector
- BEEP_CONST_VOL - Normalise Beep Volume
- GRAD_BRAK_EN - Gradual Braking Enable
- GB_DURATION_S - Gradual Braking Duration
- GBRAK_STRT_DC - Gradual Braking Starting Duty Cycle
- MOT_T_DTY_LIM - Motor Temperature Limiter Minimum Duty cycle
- STOP_BEHAV - Stopping Behavior
- STOP_ON_ARMED - Stopping Behavior on Armed State
- RAMP_STOP_EN - Enable Ramp To Stop
ARINC Settings
- ARINC_NSC_OFFSET - Node Service Channel ID offset
- ARINC_STAT1_HZ - Status Message 1 Frequency
- ARINC_STAT2_HZ - Status Message 2 Frequency
- ARINC_STAT3_HZ - Status Message 3 Frequency
- ARINC_FID - Function Code Identifier
- ARINC_PHSM_HZ - Periodic Health Status Message Frequency
- ARINC_PF_ID - Profile ID
- ARINC_PF_S_ID - Profile Sub ID
- ARINC_SID - Server ID
- ARINC_TUNNEL_FID - Function Code Identifier for Tunneling
Settings Modified
- ARM_MSG_TIMEOUT: Default 1000 â 5000
- MOT_OVT_RESP: Max 1 â 2
- RPM_I_TERM Default 0.00004 â 0.006
- RPM_P_TERM Default 0.00009 â 3.79
* Requires Hargrave Configurator >=v1.11.0
3.0.1 - 17th June 2025
Bugfix
- Improved unit efficiency and optimisation of motor drive values
3.0.0 - 28th May 2025
- Initial production release of nanoDRIVE firmware.