Vertiq has created a new speed firmware release, v0.1.1, for its G2 production modules and the 81-08 G1 modules.
This firmware resolves a small bug introduced in v0.1.0, where setting the value of the Report Telemetry as Speed parameter could affect the value of the FC 2D/3D Mode parameter, and vice versa.
For many users, this bug has minimal impact, as the FC 2D/3D Mode parameter generally has no effect unless a 3D Motor Direction is being used (i.e., when attempting to send negative throttles).
All modules that received the v0.1.0 firmware update are affected. 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 functionally identical to v0.1.0, with the only difference being the fix for the bug that linked the values of the Report Telemetry as Speed parameter and the FC 2D/3D Mode parameter. No other changes have been made.
Details of Issue & Impact
The bug addressed in this release caused the saved values of Report Telemetry as Speed and FC 2D/3D Mode to become linked. When one parameter was set and saved, both parameters would reboot with the same value after power cycling the module.
For example, if Report Telemetry as Speed was enabled and saved, then after rebooting, FC 2D/3D Mode would load with a value of 3D, even if it had previously been set to 2D. Similarly, if FC 2D/3D Mode was saved as 2D, then after rebooting, Report Telemetry as Speed would be disabled, even if it had previously been enabled. Saving either parameter would unintentionally affect the other upon the next reboot.
The FC 2D/3D Mode setting only impacts modules used in specialized and uncommon vehicle configurations. Specifically, it matters only when the Motor Direction is set to a 3D direction, allowing the motor to spin both counterclockwise and clockwise using positive and negative throttle inputs.
The typical and recommended use case with PX4 and Ardupilot flight controllers is to use a 2D direction, where the motor spins in only one direction in response to throttle input. In this configuration, the FC 2D/3D Mode has no impact. Therefore, most users will not be affected by changes to this parameter, even if they enable Report Telemetry as Speed.
However, operators who enabled Report Telemetry as Speed may have been affected if they also attempted to manually set FC 2D/3D Mode to 2D afterward. Doing so could have unexpectedly disabled Report Telemetry as Speed due to the bug.
When to Update to v0.1.1
For most users, this bug will not affect motor behavior. Unless you are using a 3D Motor Direction, the FC 2D/3D Mode parameter has no effect. If you were affected, the issue would be noticeable as the module’s mapping to throttle would be noticeably different.
If you are using Report Telemetry as Speed and observed the parameter changing unexpectedly, then your module may have been impacted. This only applies for those using Report Telemetry as Speed and also adjusted the FC 2D/3D Mode setting.
If neither condition applies, updating to v0.1.1 is unlikely to result in a meaningful difference in module performance compared to v0.1.0.
Vertiq recommends upgrading to v0.1.1 when possible to prevent encountering this bug in the future. However, the company understands that some users may prefer not to update firmware immediately for operational reasons. Version v0.1.0 will remain available for users who wish to continue using it.
