Firmware — releases & update tools

Firmware — releases & update tools

Where to download firmware, which tool flashes it, plus the latest and previous stable versions with changelogs.
As of 2026-09-06. Always remove props before flashing or motor tests.

Quick versions (current stable)

Component Latest Previous Update with
ArduCopter (Pixhawk 6X Mini) 4.7.1 4.7.0 Mission Planner
EdgeTX (TX16S MK3) v2.12.4 v2.12.3 EdgeTX Companion
ExpressLRS (TX + XR4) 4.1.0 4.0.1 ELRS Configurator v1.8.3
AM32 (ESC, optional) v2.21 v2.20 am32.ca · esc-configurator.com
Mission Planner (GCS) 1.3.83 1.3.82 MP downloads

1. Flight controller — ArduPilot Copter

Board: Pixhawk 6X Mini → target Pixhawk6X (confirm in Mission Planner).

What Link
Firmware server https://firmware.ardupilot.org/
Current stable https://firmware.ardupilot.org/Copter/stable/
Stable 4.7.1 https://firmware.ardupilot.org/Copter/stable-4.7.1/
Stable 4.7.0 https://firmware.ardupilot.org/Copter/stable-4.7.0/
Loading docs https://ardupilot.org/copter/docs/common-loading-firmware-onto-pixhawk.html

Latest: Copter 4.7.1 (stable, 2026-09-04)

Changelog vs 4.7.0 (short):
– More board support (e.g. ARKV6S, CORVON_V5, ORBITH743v2; IMU/baro updates)
– Copter: Auto Arc climb speed/accel fix; Auto continues past RTL with non-zero final descent; Circle entry with RC input; Simple mode fix; rename PSC_JERK_NE/D → PSC_NE/D_JERK
– Libraries: Unicore vertical baseline; AlexMos yaw scaling; EKF logging; TFMiniPlus delay; H7 overdrive fix; Follow ranges; filesystem EOL fix

Previous: Copter 4.7.0 (stable, 2026-07-21)

Late 4.7.0 fixes: PosHold jerky response; WPNav loiter/turn coordinator; Guided angle+climbrate scripting scale; EKF airspeed fuse guard; compass disable-mask bug; serial blocking-write fix.

Tool: Mission Planner — Setup → Install Firmware → Copter / Quad.

2. Radio — EdgeTX (TX16S MK3 MAX)

What Link
Releases https://github.com/EdgeTX/edgetx/releases
Companion https://www.edgetx.org/
RadioMaster FW/SD https://www.radiomasterrc.com/pages/firmware

Latest: v2.12.4 “Queen Anne’s Revenge” (2026-09-02)

  • https://github.com/EdgeTX/edgetx/releases/tag/v2.12.4

Changelog (short):
– Fix RadioMaster GX15 production board (right slider) — upgrade from 2.12.3 strongly recommended
– Companion: MPM antennaMode / subtype aliasing (re-check MPM RF protocol if you opened models in 2.12.3)
– Companion macOS: audio preview + deployment target
– Lua: decimal separators in simulator; float comparisons (0.5 == 0) fixed
– ELRS: room in arming status byte for future use

Previous: v2.12.3 (2026-08-29)

  • https://github.com/EdgeTX/edgetx/releases/tag/v2.12.3

Changelog (short):
– New handsets (HelloRadioSky V12/V14, iFlight Commando 14, GX15 — GX15 slider later fixed in 2.12.4)
– Color LCD: Lua textEdit, IMU invert, key lock, USB-charge disable
– Flysky iBUS2, Lemon DSMP V2, RadioLink/DumboRC specials, DSM 16 ch
– Fixes: CRSF RSSI units, ELRS antenna/RSSI numbering, SBUS trainer crash/EM, model save/GVAR, trim glitches, etc.

Tool: EdgeTX Companion — back up models first, then flash + sync SD.

3. RC link — ExpressLRS (internal TX + XR4)

What Link
ELRS releases https://github.com/ExpressLRS/ExpressLRS/releases
Configurator https://github.com/ExpressLRS/ExpressLRS-Configurator/releases
Docs https://www.expresslrs.org/
ArduPilot setup https://www.expresslrs.org/quick-start/ardupilot-setup/

Latest: ExpressLRS 4.1.0 (2026-07-17)

  • https://github.com/ExpressLRS/ExpressLRS/releases/tag/4.1.0
  • Compatible with all 4.x hardware.

Highlights:
– Dynamic power steps down sooner (+1.5 SD → +0.5 SD); fix rare power glitch while armed
– Set bindphrase from the handset (Lua)
– Fewer “Telemetry Lost” callouts (grace period)
– Tighter PWM timings on ESP8285 (less servo jitter)
– WebUI VBAT calibration / extras

Previous: ExpressLRS 4.0.1 (2026-05-12)

  • https://github.com/ExpressLRS/ExpressLRS/releases/tag/4.0.1

Changelog vs 4.0.0:
– SubGHz regulatory-domain option fix
– SX1280 separate TX/RX FIFOs → MAVLink bad RC / reconnect & failsafe fixes
– PDET ADC start fix (TX16S/Zorro power slightly high)
– no-pulse failsafe on ESP32-C3

Configurator

Version Date Changelog
v1.8.3 (latest) 2026-07-22 Native macOS arm64; Python 3.14.6; binding-phrase history — release
v1.8.2 (previous) 2026-07-14 Passthrough step UI; translations — release

Flash TX module + XR4 on the same binding phrase and same ELRS major line (4.x).

4. ESC — T-Motor Pacer 60A V2 (AM32 optional)

Often ships BLHeli_32; upgrade to AM32 only with the correct target. Wrong target can brick the ESC.

What Link
AM32 configurator https://am32.ca/
Downloads https://am32.ca/downloads
GitHub releases https://github.com/am32-firmware/AM32/releases
ESC web tool https://esc-configurator.com/
ArduPilot passthrough https://ardupilot.org/copter/docs/common-blheli32-passthru.html

Latest: AM32 v2.21 (2026-08-12)

  • https://github.com/am32-firmware/AM32/releases/tag/v2.21

Changelog:
– New brake on zero throttle modes (1=immediate brake, 2=coast, 3=brake after X seconds)
– NXP MCXA153 support
– Serial telem RX init fix; bugfixes + new targets
– Needs offline config tool ≥ 1.96

Previous: AM32 v2.20 (2025-12-18)

  • https://github.com/am32-firmware/AM32/releases/tag/v2.20

Changelog: F051 max-RPM regression from 2.19 fixed; better 3D mode; LED/WS2812 targets; comparator blanking; new targets.

5. DroneCAN peripherals (H-RTK F9P, H-Flow, CAN hub)

No single version for all nodes — update per device via AP_Periph / Holybro.

What Link
Holybro DroneCAN F9P FW https://docs.holybro.com/gps-and-rtk-system/f9p-h-rtk-series/dronecan-f9p/dronecan-firmware-update
Holybro u-blox F9P FW https://docs.holybro.com/gps-and-rtk-system/zed-f9p-h-rtk-series/ublox-f9p-firmware-update
H-Flow docs https://docs.holybro.com/peripherals/h-flow-dronecan
AP_Periph binaries https://firmware.ardupilot.org/AP_Periph/
DroneCAN GUI https://dronecan.github.io/GUI_Tool/Overview/

Tool: Mission Planner → Optional Hardware → DroneCAN → MAVLinkCAN1 → Update. Check node SW version before/after.

6. Mission Planner (GCS)

Version File Link
1.3.83 (latest on server) MissionPlanner-latest.msi / MissionPlanner-1.3.83.msi https://firmware.ardupilot.org/Tools/MissionPlanner/
1.3.82 (previous) MissionPlanner-1.3.82.msi same folder

Changelog: see installer notes / ArduPilot/MissionPlanner releases when published.

Suggested order

  1. Mission Planner → ArduCopter 4.7.1 on the 6X Mini.
  2. EdgeTX Companion → radio v2.12.4.
  3. ELRS Configurator 1.8.3 → TX + XR4 on 4.1.0 (same phrase).
  4. Touch ESC firmware only if needed (AM32/BLHeli).
  5. Check DroneCAN nodes; update FW only for known issues.