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📂 Firmware Releases

🔵 X4 Frame Builds​

CONTROLLER FIRMWARE FILE NAME ARDUCOPTER BASE VERSION CUBE .apj
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Herelink HERX4_HL_M1_AC457_OP.apj 4.5.7 Orange Plus
Herelink HERX4_HL_M2_AC457_OP.apj 4.5.7 Orange Plus

⚫ X8 Frame Builds​

CONTROLLER FIRMWARE FILE NAME ARDUCOPTER BASE VERSION CUBE .apj
Herelink HERX4_HL_M1_AC457_OP.apj 4.5.7 Orange Plus
Tandem HERX4_TD_M1_AC457_OP.apj 4.5.7 Orange Plus
Herelink HERX4_HL_M2_AC457_OP.apj 4.5.7 Orange Plus
Tandem HERX4_TD_M2_AC457_OP.apj 4.5.7 Orange Plus

A robust and standardized base setup designed to ensure operational safety, compatibility with advanced systems, and efficiency in automated missions.

  • Includes two critical LUA scripts that enhance system reliability:

    • MotorSafeStop.lua: safely stops the motors when critical conditions are detected (e.g., extended RC signal loss or forced landing), preventing uncontrolled restarts in the field.

    • Hobbywing_DataLink.lua: transmits real-time ESC data (voltage, current, temperature) for monitoring via the Herelink ground station or telemetry, enabling predictive diagnostics and maintenance.

  • ADSB-In is enabled, allowing the drone to receive signals from nearby manned aircraft broadcasting identification. This enhances airspace awareness, helps prevent collisions in shared zones, and is fully compatible with ground control software such as QGC and Mission Planner.

  • Designed primarily for automated flight modes, the configuration supports precise mission execution. A complete WPNAV setup defines speeds, accelerations, and behavior between waypoints. Parameters are also tuned for Precision Land, enabling smooth and accurate landings using GPS.

  • Failsafe mechanisms are properly configured to minimize operational risks:

    • Return to Launch (RTL) is triggered by both signal loss and low battery.

    • RC failsafe engages RTL when RC link is lost.

    • Navigation and GPS failsafes ensure the drone halts mission progress if positioning data becomes unreliable.

  • Advanced settings for Notch Filters help eliminate vibration-induced resonance frequencies that may affect IMU readings. Inertial sensors are calibrated with optimal update rates and priorities, ensuring a stable and accurate sensor fusion for navigation even in challenging environments.

1.0​

  • AUX channel 14 is assigned to control the Herelink camera.

  • MAVLink v1 is used on SERIAL1 — sufficient for basic telemetry but with reduced message capabilities.

  • Yaw source is set to the compass (magnetometer), which may be more vulnerable to magnetic interference in complex environments.

  • Battery monitoring is configured for analog-type Mauch sensors.

  • Vertical navigation behavior is tuned to be more agile, with higher ascent and descent speeds.

  • GPS is automatically configured via DroneCAN, without assigning fixed CAN node IDs.

2.0​

  • AUX channel 13 is used for Herelink camera control.

  • MAVLink v2 is enabled on SERIAL1, providing extended message support, higher bandwidth, and authentication features.

  • Moving Baseline RTK is enabled, using GPS-derived yaw with compass fallback for redundancy.

  • Battery monitoring uses digital sensors (TDK-Matek).

  • Vertical speed is set for smoother flight, optimizing for precision and stability in auto modes.

  • Fixed CAN IDs (21 and 22) are assigned to GPS1 and GPS2, respectively, to ensure consistent identification of the base and rover, improving the reliability of the RTK system.

  • The DID (Drone ID) feature is enabled, supporting remote drone identification in compliance with advanced airspace regulations.