---
title: Change Log
slug: legacy-docs-gk-3-1/7A_H-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).

***

## 3.1.0 - 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- Brake on Stop has been replaced by Stopping Behaviour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 → 5000
- MOT\_OVT\_RESP: Max 1 → 2
- RPM\_I\_TERM  Default 0.00004 → 0.006
- RPM\_P\_TERM Default 0.00009 → 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.