--- title: Change Log slug: microdrive-lpi/change-log icon: {"faIcon":"fa-solid fa-table-list"} docTags: 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). *** ## 3.2.1 - 18th September 2026 **Build Hash: **665ab09d Resolves a bug affecting ARINC custom node services ## 3.2.0 - 4th May 2026 **Build Hash: **a81e7ff8 ### Major Changes DRIVE firmware v3.2.0 introduces FC passthrough communication, CAN protocol auto detection, configurable LED modes and drive soft start. This update also includes a range of quality of life features and bug fixes. Installing this firmware requires updating to bootloader version 1.2. A detailed guide to installing the bootloader and DRIVE firmware v3.2.0 can be found below: :::CtaButton{label="Update Guide" docId="ZgzSSoh4Vssf-b3clNSXs" openInNewTab="true"} ::: ### New Features - **FC Passthrough** - Flight Controller Passthrough is now supported with the Hargrave Configurator. Motor controllers can now be connected to the Configurator using the serial signal lines with supported flight controllers. - **CAN Protocol Detection** - The unit can now automatically select between the DroneCAN and Hargrave ARINC825 CAN protocols based on traffic on the CAN bus. - **Configurable LED Modes** - The status LED on the device can be configured to be always on, off during normal operation, or completely off. - **Drive Soft Start** - During normal and reversible drive modes a duty cycle build duration can be configured. This will make the duty cycle gradually build to the configured minimum duty cycle for a smoother start to drive. - **Periodic Disarm Beep** - A periodic disarm beep has been added to the status beeps. A periodic tone will play in the disarmed state. When the secondary arming switch is enabled the tone will change based on the state of the switch. ### Other Changes - Added errors viewable in the Hargrave Configurator to indicate the following: - Failure of the bridge temperature sensor. - The bootloader has rejected a firmware update. - The primary device clock source has failed. - Hargrave ARINC Protocol 1.1 support has been added, this allows the broadcast throttle message to be truncated to less than 4 throttle messages. - Fallback signal states have been added to the DroneCAN extended ESC status telemetry message. - The device will respond to the DroneCAN message 1080.BeepCommand by identifying itself with a flashing white LED and a beep tone. - If a custom ESC name has been configured it will be sent as the source in DroneCAN debug messages. - Certain errors can now be displayed as sub-errors of a parent error in the Hargrave Configurator. - The unit will now respond to the DShot info request. - Initialisation time has been reduced when recovering from a software crash. - The “DISARMED” DroneCAN debug message will only be sent periodically while the unit is disarmed when the commanded throttle is non zero. - Improved serial signal auto detection. - The DroneCAN ESC status powerRatingPct field is now a percentage of bus power compared to the configured voltage and current limits. ### Bug Fixes - Bidrectional DShot telemetry has been improved. - Made input signals more resilient to high frequency noise. - Fixed high frequency ARINC telemetry not being sent. - Improved CAN behaviour and implementation. ### Settings Changes **Settings Added** - CAN\_SAMPLE\_POINT - Setting to modify the CAN bus sample point - DUTY\_BUILD\_TIME - The duration over which to build the duty cycle to the minimum duty cycle - LED\_MODE - Controls the visibility of the LED - ID\_BEEP\_CMD - When enabled the motor controller will enter/exit identify mode when receiving the Dronecan message 1080.BeepCommand **Settings Modified** - CAN\_PROTOCOL: Default 0 → 2 (DroneCAN -> Auto), Max 1 -> 2 Requires Hargrave Configurator >=v1.14.0 Requires GateKEEPER Bootloader >=1.2.0 ## 3.1.0 - 24th September 2025 **Build Hash:** 049118ec ### 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 - Parking Stop Strength has been replaced by Active Hold Strength ### 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. - Prop parking will not attempt to repark. ### 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 - PARK\_ON\_ARMED - Prop Park on Armed State - STOP\_BEHAV - Stopping Behavior - STOP\_ON\_ARMED - Stopping Behavior on Armed State - USB\_PWR\_LOCKOUT - USB Power Lockout **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 ## 3.0.0 - 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. Key drive behaviour changes include: - Startup minimum duty cycle added. Duty cycle is forced to at least 2.5% on drive start to ensure that the motor begins spinning, this limit is removed once the startup duty cycle is exceeded. - Behaviour changed when 'Brake On Stop' disabled, the motor will now immediately coast, as opposed to ramping down before coasting. ### New Features - **Input Priority System** - The Input Priority System is a feature that enables the use of both CAN bus and serial (DShot/PWM) signalling simultaneously. 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. ### 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 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. - The 'temperature' field in the DroneCAN ESC Status (1034) message is reported with more 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. - The advanced settings toggle has been removed and now all settings are immediately configurable over DroneCAN. - 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 properller 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 ### Subversion Releases - None \* 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