Change Log
The firmware releases and their relevant change logs are shown below.
Versioning follows semantic versioning.
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3.2.1 - 18th September 2026
Build Hash: 4883d8b4
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.
Critical Bug Fix: nanoDRIVE 4LPi arming switch. The arming switch has been changed to be pull high to arm. The previous implementation could be unreliable under certain circumstances.
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:
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 βDISARMEDβ 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
- Bidirectional 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.
- Arming switch direction changed to improve reliability.
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 β 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: 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 β 5000
- MOT_OVT_RESP: Max 1 β 2
- RPM_I_TERM Default 0.00004 β 0.006
- RPM_P_TERM Default 0.00009 β 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.