Change Log

the firmware releases and their relevant change logs are shown below versioning follows semantic versioning 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improvements for rpm mode, rpm limiting, and motor temperature limiting configuration changes to note brake on stop has been replaced by stopping behaviour new features arinc825 can protocol can 2 0b protocol that adheres to the arinc825 4 specification this protocol can be used in place of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