Download firmware for HAKRC Storm32 Alloy 3 Axis Brushless Gimbal

This firmware is for HAKRC Storm32 Alloy 3 Axis Brushless Gimbal. You can buy it from for a very good price.

HAKRC Storm32

Download firmware for HAKRC Storm32 Alloy 3 Axis Brushless Gimbal from here, here or here.

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


– 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

– some few cleanups with enums
– nt imu data checks for a=0
– nt dma putc handling slightly changed
– 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

– 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)
– 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

Caution: Please do not update firmware unless you know what you are doing, you really want it or it is absolutely necessary. Firmware updates may occasionally have bad results, like bricking your device, temporarily or permanently. The firmware update process is done entirely at your own risk. Before attempting to update the firmware, back up your data.


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