Speed Firmware v0.1.1 Release Information
What is This Post About?
Vertiq has created a new bug fix speed firmware release, v0.1.1, for our G2 production modules and the 81-08 G1 modules. This firmware addresses a small bug introduced in v0.1.0 where setting the value of the Report Telemetry as Speed parameter can affect the value of the FC 2D/3D Mode parameter, and vice versa. The bug is described in greater detail below for reference. For many customers, this bug has little impact as the FC 2D/3D Mode parameter generally has no impact on customers that are not using a 3D direction (i.e. attempting to send negative throttles). Besides fixing that bug, this firmware is exactly the same as v0.1.0.
What Modules are Impacted?
All of the modules that received the v0.1.0 firmware update are impacted. Specifically:
40-06 370Kv, 770Kv (M34.1, M34.2, M34.3, M41.1, M41.2)
40-14 400Kv (M35.1, M35.2)
60-08 150Kv, 300Kv, 660Kv (M40.2, M47.1, M48.0, M48.1)
81-08 G1 85Kv, 150Kv, 240Kv (M16.0, M28.0, M39.0)
81-08 G2 85Kv, 140Kv, 240Kv (M16.2, M28.2, M39.2)
81-17 G2 110Kv (M42.0, M42.1)
Overview of Changes
This firmware is exactly the same as v0.1.0. The only change is resolving the bug that connected the values of the Report Telemetry as Speed parameter and the FC 2D/3D Mode parameter. There are no other changes from the previous firmware version.
Details of Issue and Impact
The bug that is addressed with this release connected the saved values of the Report Telemetry as Speed parameter and the FC 2D/3D Mode parameter. When the value of one of these was set and saved onto the module, after rebooting they would both reboot with the value of the other parameter. For example, if Report Telemetry as Speed was set and saved to be Enabled, when the module was next rebooted FC 2D/3D Mode would be loaded with a value of 3D, even if it was previously set to 2D. In the same way, if FC 2D/3D Mode was set and saved to be 2D, then when the module was next rebooted Report Telemetry as Speed would be loaded with a value of Disabled, even if it was previously set to Disabled. Saving either of these parameters would affect the other one on the next reboot of the module.
The FC 2D/3D Mode only impacts customers' modules in very specialized and uncommon vehicles. As detailed here, the value of that parameter only matters if the Motor Direction is also set to a 3D direction. That would only be done if attempting to use the motor in a 3D mode, where it can be commanded to spin both counterclockwise and clockwise using positive and negative throttles. The typical, and recommended, use case with PX4 and Ardupilot flight controllers is to use a 2D direction to command the motor to spin in only one direction with incoming throttles. In that case, the FC 2D/3D Mode has no impact on the module. So, most customers will see no impact if they enabled Report Telemetry as Speed, as the changed value of FC 2D/3D Mode would not affect their modules.
Customers who enabled Report Telemetry as Speed may have been impacted if they also tried to manually set the FC 2D/3D Mode to 2D, as that may have unexpectedly disabled Report Telemetry as Speed if they set FC 2D/3D Mode after setting Report Telemetry as Speed.
Can I Continue Using v0.1.0? Should I Update My Firmware?
As detailed in the section above, this bug should not have a functional impact on the behavior of the motors for most customers. Unless you are using a 3D Motor Direction, which is uncommon, then the value of FC 2D/3D Mode should not affect you. The effects of that would be obvious if you were impacted, as the module’s mapping to throttle would be noticeably different.
If you are using Report Telemetry as Speed and have seen the parameter change unexpectedly, then you may have been impacted. This would only apply if you were using Report Telemetry as Speed and also changed the value of FC 2D/3D Mode after setting that value.
If neither of those conditions apply, then v0.1.1 should not provide a meaningfully different experience than v0.1.0 for your module's performance. We do recommend upgrading to the latest version of v0.1.1 to avoid running into this bug in the future if possible, but we understand that some customers may not wish to immediately change their firmware for various reasons. v0.1.0 will still be available on our website for customers who wish to continue using that firmware.
