Download firmware for HAKRC Storm32 Alloy 3 Axis Brushless Gimbal

Firmware details
Archive name: HAKRC Storm32 Gimbal upgrade firmware pack
Archive size: 9,07 MB
Image name: o323bgc-release-v096-v20160319
Inside archive: firmware + 新三轴云台参数.cfg

v0.96:
– bug nt: CC3D didn’t work with spi_setclockspeed(SPI_281p25KHZ) (->nt firmware v0.21)
– bug nt: command flash module didn’t work for id != 0 (->nt firmware v0.21)
– bug: speedlimit in relative can be too fast
– setup conversions acc-calib-values correction improved
– nt logger logs calibration values
– nt qmode, nt command processor prepared, flashing of nt modules, not yet supported by gui
VERSION RELEASED as version v0.96 on 19.Mar.2016

v0.95: (L095)
– bug: setup update further improved
– bug: imu3 detection & handling changed
– bug: plane pan limited to 15° (by maciek252)
– bug: roll pan mechanism improved, “cheats” a bit and is still not perfect, but should work “mostly”
– mpu lib restructured a bit to better accommodate 9250
– nt logging of imu module configuration info added
– PanExpo method changed a bit, gui Pan Limiter renamed to Pan Expo, others too
– Remote inhibit on-board script command added (by JanJoh)
VERSION distributed as version v0.95e on 5.Mar.2016

v0.94: (L094)
– bug: setup update fails for erased eeprom
– bug: serial transmit could stays too long in loop, do_serial() could hang in receive_payload, serial reworked a bit
– gui: acc calibration reading display improved
– gui: px4 .bin data saving removed, data can be read with NTLoggerTool
– default setup NtLogging off for non-nt firmware
– acc range changed to +-4g, associated changes also in NT imu firmware and gui
– mavlink COMMAND_LONG command MAV_CMD_GET_ATTITUDE=1234 added (by digaus)

v0.93: (L093)
– bug nt: tNTBusGetImuData Temp must be int16_t
– bug: pan works now for “all” angles
– nt: NtLogger sd card writing much improved (->nt firmware v0.18)
– nt: NtLogger __ntbus_retrievedata() (->nt firmware v0.18)
– heart beat led frequency changed to 1 Hz
– nt logging uses scheduled time for “big” logging options
– nt logging change recording of accgyro data to Q24_TO_S16MUL2E14, Q24_TO_S16MUL2E11
– live data change of acc&gyro data to Q24_TO_S16MUL2E14, Q24_TO_S16MUL2E11
– roll&yaw mixer with q30
– FeedForwardLPF corrected, set to 0 as default
– Imu3 Orientation parameter
– pitch&roll pan deadband behavior: <=15.0° old behavior, >15.0° new soft-limits like behavior
VERSION distributed as version v0.93e on 20.Feb.2016

v092:
– some few cleanups with enums
– nt imu data checks for a=0
– nt dma putc handling slightly changed
– nt: NTBUS_CMD_ACCGYRO?RAWDATA_V1, NTBUS_CMD_ACCGYRODATA_V1 deprecated
– nt: NTBUS_CMD_ACCGYRO?RAWDATA_V2, NTBUS_CMD_ACCGYRO?DATA_V2 added instead
– nt: new commands added to NtLogger (->nt firmware v0.17)
– Imu3 options improved
– nt one new logging options added
– pan deadband behavior for pitch,roll fundamentally changed, works now like soft limits
– pan deadband hysteresis relevant only for yaw
– new pan mode hold-pan-pan added

v0.91:
– gui bug: Board, Name fields shall not be editable (by pawelsky)
– bug: nt bus & imu mapping corrected
– bug: bug in mavlink parameter removed
– mavlink parameter type accounted for (“new” apm method)
__mavlink_setparambyindex() – MSG_ID_PARAM_SET, MAV_CMD_DO_SET_PARAMETER, MSG_ID_PARAM_SET2
generate_paramvalue() – MSG_ID_PARAM_REQUEST_READ, MSG_ID_PARAM_REQUEST_LIST, MSG_ID_PARAM_SET
generate_paramvalue2()
– nt: NTBUS_CMD_AHRS1DATA, NTBUS_CMD_AHRS2DATA, NTBUS_CMD_ACCGYRO3RAWDATA added to NtLogger (->v0.16)
– nt: NtLoggerTool new frame error detection mechanism
– nt: NtLoggerTool extended to export to Cleanflight’s Blackbox Explorer, Blackbox Explorer extended to support STorM32
– nt: NtLoggerTool extended to load STorM32 GUI log files
– gui: NTLoggerTool no longer integrated
– SET LOG moved to before other CMD LOG logs
– Imu3 option added, available for nt
– script panorama, SETPANOWAITS, SETPANORANGE, DOPANO commands
– script set angle with speed and wait, SETANGLEPITCH_W, SETANGLEROLL_W, SETANGLEYAW_W

v0.90: (L089)
– nt bug: NtLoggerTool handled Voltage incorrectly (by GekoCH)
– nt bug: NtLoggerTool cancel of load didn’t cancel
– bug: several bugs in mavlink parameters removed
– bug: LOGGING_ACCGYRORAW didn’t work
– bug: hold-pan switching didn’t work for pitch&roll (by schnupperm)
– nt: NtLoggerTool significantly enhanced&improved
– __ntbus_senddata() improved a tiny bit
– nt logger logs versions and parameter values
– nt logger with 7.5s sync periods, minimizes gaps
VERSION RELEASED as version v0.90 on 10.Jan.2016