Choosing Your Firmware

Understanding the differences between ArduPilot and Betaflight to make the right choice for your application.

Table of contents

  1. The Two Options
    1. ArduPilot
    2. Betaflight
  2. Quick Decision Guide
    1. Choose ArduPilot if you need:
    2. Choose Betaflight if you need:
  3. Detailed Comparison
  4. Learn More
  5. NDAA Compliance Considerations
    1. ArduPilot with Secure Firmware
    2. Betaflight Standard Builds
  6. Installing Firmware
  7. Installing ArduPilot
    1. Step 1: Download Firmware
    2. Step 2: Install Ground Control Software
    3. Step 3: Flash Firmware
      1. First-Time Installation (Using .hex file with bootloader)
      2. Updating ArduPilot (Using .apj files)
    4. Step 4: Initial Configuration
    5. ArduPilot Resources
  8. Installing Betaflight
    1. Step 1: Open Betaflight Configurator
    2. Step 2: Enter DFU Mode
    3. Step 3: Flash Firmware
    4. Step 4: Initial Configuration
    5. Step 5: BLHeli ESC Configuration (if needed)
    6. Betaflight Resources
  9. Troubleshooting Installation
    1. Board Not Recognized (Windows)
    2. Firmware Flash Failed
    3. Wrong Firmware Loaded
    4. No GPS Lock (ArduPilot)
    5. No OSD Display
  10. Next Steps
  11. Questions?

The Two Options

The H7-Digital supports two popular open-source flight control firmware options:

ArduPilot

Open-source autopilot system designed for autonomous vehicles. Excellent for waypoint missions, companion computer integration, and professional UAS operations.

→ Jump to ArduPilot Installation

Betaflight

High-performance flight controller firmware optimized for manual FPV flight, racing, and freestyle. Industry standard for acrobatic multirotor flight.

→ Jump to Betaflight Installation

Quick Decision Guide

Choose ArduPilot if you need:

  • ✅ Autonomous flight with waypoint missions
  • ✅ GPS navigation and robust return-to-home
  • ✅ Companion computer integration (Raspberry Pi, Jetson)
  • ✅ Mission planning software (QGroundControl, Mission Planner)
  • ✅ NDAA compliance with secure signed firmware
  • ✅ Professional operations requiring audit trails
  • ✅ Advanced sensors (optical flow, rangefinders, RTK GPS)
  • ✅ MAVLink protocol for telemetry and control

Choose Betaflight if you need:

  • ✅ Manual FPV flight with precise control
  • ✅ Racing and freestyle acrobatics
  • ✅ Simple configuration via GUI
  • ✅ Quick setup and tuning
  • ✅ Blackbox logging for PID tuning
  • ✅ OSD customization for FPV display
  • ✅ No GPS required for operation (but useful for GPS rescue functionality)
  • ✅ Active racing community and support

Detailed Comparison

Feature ArduPilot Betaflight
Primary Use Case Autonomous/semi-autonomous flight Manual FPV racing/freestyle
GPS Requirement Required for auto modes (except guided-no-gps) Optional, used for GPS rescue
Companion Computer Excellent (MAVLink, DroneCAN) Limited support
Configuration Method Parameter files, GCS software Betaflight Configurator GUI
Learning Curve Moderate to steep Beginner to moderate
Mission Planning Full support (QGC, MP) Not applicable
Acrobatic Flight Basic flip/roll modes Industry-leading performance
Tuning Complexity Many parameters, PIDs, auto-tune available Streamlined
Failsafe Options Extensive (RTH, land, loiter) Basic (motor stop, GPS rescue)
Telemetry MAVLink (rich data) MSP, CRSF telemetry
OSD Support Built-in (various styles) Highly customizable
NDAA Compliance Yes (secure firmware builds) Standard open-source
Community Professional/hobbyist mix Primarily FPV racing
Update Frequency Stable releases (quarterly) Stable releases (semi-annually)

Learn More

For detailed technical specifications and capabilities:

ArduPilot: Flight modes • Advanced features • Companion computers

Betaflight: Features overview • Flight performance • OSD setup

NDAA Compliance Considerations

If you require NDAA Section 848 compliance:

ArduPilot with Secure Firmware

  • ✅ Signed firmware builds from AeroCogito repository
  • ✅ Verifiable supply chain for software
  • ✅ Audit logs for all operations

→ Download Secure Firmware

Betaflight Standard Builds

  • ⚠️ Community builds (no official signed firmware)
  • ⚠️ Limited audit trail capabilities

For federal/defense use requiring NDAA compliance, ArduPilot with secure firmware is the recommended option.

Installing Firmware

Once you’ve decided which firmware to use, follow the installation instructions below.

First Time Setup: The H7-Digital ships with Betaflight pre-installed. If you want to use ArduPilot instead, you’ll need to flash the ArduPilot firmware first.

Installing ArduPilot

Step 1: Download Firmware

Choose one of the following firmware sources:

Option A: AeroCogito Secure Firmware (NDAA Compliant)

Recommended for federal/defense use: Cryptographically signed firmware for NDAA Section 848 compliance.

  1. Visit the AeroCogito H7-Digital Firmware Repository
  2. Download the latest firmware file from Releases:
    • First-time installation: Download the *-with-bootloader-signed.hex file (includes bootloader)
    • Subsequent updates: Download the *-signed.apj file (faster, no bootloader needed)
  3. Optional: Verify the cryptographic signature (instructions in repository README)

Option B: Official ArduPilot Firmware

Standard open-source builds: Latest official ArduPilot firmware from the ArduPilot project.

  1. Visit the ArduPilot Firmware Server
  2. Download firmware file:
    • First-time installation: Download arducopter_with_bl.hex (includes bootloader)
    • Subsequent updates: Download arducopter.apj (no bootloader needed)

Step 2: Install Ground Control Software

Choose one of the following ground control stations:

Mission Planner (Windows - Recommended for Windows users):

QGroundControl (Cross-platform - Mac/Linux/Windows):

Step 3: Flash Firmware

Installation Type:

  • First-time installation (from Betaflight): Use .hex file with DFU mode
  • Updating ArduPilot: Use .apj file with Mission Planner/QGroundControl (easier, no DFU)

First-Time Installation (Using .hex file with bootloader)

The H7-Digital ships with Betaflight pre-installed. To switch to ArduPilot, you must use DFU mode and flash a .hex file that includes the ArduPilot bootloader.

  1. Enter DFU Mode:
    • Power off the H7-Digital completely
    • Hold the BOOT button (on the board)
    • Connect USB cable while holding BOOT
    • Release BOOT button
    • The amber LED will illuminate (DFU mode active)
  2. Flash Using Betaflight Configurator (recommended method):
    • Open Betaflight Configurator Web App
    • Connect H7-Digital in DFU mode
    • Click “Firmware Flasher” tab
    • Click “Load Firmware [Local]”
    • Select the downloaded .hex file (with-bootloader-signed.hex or arducopter_with_bl.hex)
    • Uncheck “Full Chip Erase” (not needed)
    • Click “Flash Firmware”
    • Wait for completion (board will reboot into ArduPilot)
  3. Alternative: Flash Using STM32CubeProgrammer:
    • Download STM32CubeProgrammer from ST Microelectronics
    • Connect H7-Digital in DFU mode
    • Select USB connection, click “Connect”
    • Click “Open file” and select .hex file
    • Click “Download” to flash
    • Disconnect and reconnect USB (board will boot into ArduPilot)

Updating ArduPilot (Using .apj files)

Once ArduPilot is installed, future updates are much easier - no DFU mode required!

Using Mission Planner:

  1. Connect H7-Digital via USB
  2. Click “Setup” → “Install Firmware”
  3. Click “Load custom firmware”
  4. Select the .apj file
  5. Wait for upload to complete

Using QGroundControl:

  1. Connect H7-Digital via USB
  2. Go to “Vehicle Setup” → “Firmware”
  3. Select “Advanced settings”
  4. Choose “Custom firmware file”
  5. Select the .apj file
  6. Click “OK” to flash

Using SD Card (no computer required):

  • See ArduPilot SD Card Firmware Loading
  • Rename .apj file to appropriate name (see guide)
  • Copy to SD card root directory
  • Insert SD card and power on
  • Firmware flashes automatically

Step 4: Initial Configuration

After flashing ArduPilot, perform initial setup:

  1. Connect to Ground Station:
    • Connect via USB
    • Select correct COM port
    • Baud rate: 115200
    • Click “Connect”
  2. Mandatory Setup Wizard (Mission Planner / QGroundControl):
    • Frame Type: Select your frame configuration (Quad X, Hexa, etc.)
    • Accelerometer Calibration: Follow on-screen instructions (place board level, on each side)
    • Compass Calibration: If using external compass, calibrate (rotate vehicle in all axes)
    • RC Calibration: Move all sticks/switches through full range
    • Flight Modes: Assign flight modes to RC switch positions
    • Failsafes: Configure battery, radio, and GPS failsafes
  3. H7-Digital Specific Parameters (already set by default, verify if needed):
    • SERIAL5_PROTOCOL = 2 (MAVLink2 on UART5 for companion computer)
    • SERIAL2_PROTOCOL = 42 (MSP DisplayPort on UART2 for OSD)
    • SERIAL8_PROTOCOL = 5 (GPS on UART8)
    • SERIAL4_PROTOCOL = 23 (RC Input on UART4)
    • SERIAL3_PROTOCOL = 16 (ESC Telemetry on UART3)
    • OSD_TYPE = 5 (MSP DisplayPort)
    • BATT_MONITOR = 4 (Voltage and Current)
    • INS_GYRO_FILTER = 20 (for ICM-42688-P)

For complete H7-Digital UART mapping with connector locations, see Hardware Pinout - UART Mapping.

  1. Motor Setup:
    • Verify motor order matches your frame
    • Test motor direction (props off!)
    • Configure ESC protocol (DShot300/600 recommended)
  2. Pre-Flight Checks:
    • Verify GPS lock (if installed)
    • Check battery voltage reading
    • Confirm RC input works correctly
    • Verify failsafe triggers properly

ArduPilot Resources

Official Documentation:

Community & Support:

Installing Betaflight

Step 1: Open Betaflight Configurator

  1. Visit Betaflight Configurator Web App
  2. The web app runs directly in your browser (Chrome/Edge recommended)
  3. No installation required - works on all operating systems

Step 2: Enter DFU Mode

Pre-Installed Betaflight: If your H7-Digital ships with Betaflight pre-installed, you can skip DFU mode and flash directly from the Configurator using the “Flash Firmware” button without entering DFU.

To manually enter DFU mode:

  1. Power off the H7-Digital completely
  2. Hold the BOOT button on the board
  3. Connect USB cable while holding BOOT
  4. Release BOOT button
  5. The amber LED will illuminate (DFU mode active)

Step 3: Flash Firmware

  1. Connect in Configurator:
    • Launch Betaflight Configurator
    • Connect USB (in DFU mode or normal mode)
    • Configurator should show “DFU” or the board name
  2. Select Firmware:
    • Click the “Firmware Flasher” tab (on the left sidebar)
    • Board: Should auto-detect as “AEROH7DIGITAL”
    • Firmware Version: Select latest stable release
    • Options:
      • ✅ “Full Chip Erase” (recommended for clean install)
      • ✅ “Flash on connect” (optional, for convenience)
  3. Flash:
    • Click “Load Firmware [Online]” (to download latest from Betaflight)
    • Alternative: Click “Load Firmware [Local]” to flash a downloaded .hex file
    • Click “Flash Firmware”
    • Wait for progress bar to complete (30-60 seconds)
    • Board will reboot automatically
  4. Verify:
    • Disconnect and reconnect USB
    • Configurator should now show the Setup tab
    • Verify firmware version in top-right corner

Step 4: Initial Configuration

After flashing Betaflight, configure the board:

  1. Ports Tab (verify defaults):
    • UART2: MSP (for VTX/OSD) - DisplayPort protocol
    • UART4: Serial RX (for receiver input)
    • UART5: (Available for telemetry/VTX control)
    • UART8: GPS (if using GPS rescue)
  2. Configuration Tab:
    • Board Alignment: Usually 0/0/0 (adjust if mounting non-standard orientation)
    • Receiver: Select your receiver type (SERIAL, SBUS, CRSF, etc.)
    • ESC/Motor Protocol: Select DShot300 or DShot600 (recommended)
    • Motor Idle: 4-5% (adjust based on ESC)
    • Features: Enable what you need:
      • ✅ OSD (for on-screen display)
      • ✅ TELEMETRY (if using CRSF/Crossfire)
      • ✅ ESC_SENSOR (for ESC telemetry on UART3)
  3. Receiver Tab:
    • Configure receiver type (matches Configuration tab)
    • Map channels (AETR1234… default for most receivers)
    • Verify stick movement in configurator (move sticks, verify bars move correctly)
    • Set endpoint values (usually 1000-2000)
  4. Modes Tab:
    • ARM: Assign to a switch (required to arm motors)
    • Flight Modes: Configure Acro, Angle, Horizon modes
    • GPS Rescue: If using GPS (UART8)
  5. Motors Tab (PROPS OFF!):
    • ⚠️ REMOVE PROPELLERS BEFORE TESTING
    • Enable motor test (slider at bottom)
    • Test each motor spins in correct direction:
      • M1 (rear-right): CW
      • M2 (front-right): CCW
      • M3 (rear-left): CCW
      • M4 (front-left): CW
    • If wrong direction: Change motor direction in BLHeli configurator or flip motor wires
  6. OSD Tab:
    • Customize OSD elements (battery voltage, current draw, flight time, etc.)
    • Position elements on screen
    • Enable warnings (battery, RSSI, etc.)
  7. Save Configuration:
    • Click “Save and Reboot” (bottom right)
    • Board will reboot with new settings

Step 5: BLHeli ESC Configuration (if needed)

If using DShot and need to configure ESCs:

  1. Connect ESCs:
    • Ensure ESCs support DShot (most modern 4-in-1 ESCs do)
    • Connect via the ESC connector (8-pin JST-SH)
  2. BLHeli Passthrough:
    • In Betaflight Configurator, go to “Motors” tab
    • Scroll to bottom, click “BLHeli/Bluejay Passthrough”
    • This opens BLHeli Configurator
    • Configure ESC settings (motor direction, timing, etc.)

Betaflight Resources

Official Documentation:

Community Resources:

Troubleshooting Installation

Board Not Recognized (Windows)

Problem: Computer doesn’t detect H7-Digital when connected via USB

Solutions:

  1. Install USB Drivers:
    • Download ImpulseRC Driver Fixer
    • Run as Administrator
    • Click “Fix” to install all necessary drivers
    • Reconnect board
  2. Try Different USB Cable:
    • Ensure cable supports data (not just charging)
    • Try a different USB port (USB 3.0 ports sometimes have issues, try USB 2.0)
  3. Verify DFU Mode:
    • Amber LED should illuminate when in DFU mode
    • If not, retry entering DFU (hold BOOT before connecting USB)

Firmware Flash Failed

Problem: Flash operation fails or gets stuck

Solutions:

  1. Full Chip Erase: Enable “Full Chip Erase” option and try again
  2. Different Tool: Try flashing with STM32CubeProgrammer instead of Betaflight Configurator
  3. DFU Mode: Ensure you’re in DFU mode (amber LED on)
  4. USB Power: Use a powered USB hub or different port (some ports don’t provide enough power)

Wrong Firmware Loaded

Problem: Flashed wrong target or firmware

Solution: Re-flash correct firmware:

  • For H7-Digital: Target is AEROH7DIGITAL (Betaflight) or AeroCogito-H7Digital (ArduPilot)
  • Enter DFU mode and flash correct firmware

No GPS Lock (ArduPilot)

Problem: GPS not working after ArduPilot installation

Check:

  • GPS module connected to GPS connector (6-pin JST-SH)
  • Verify TX/RX connections are not switched
  • SERIAL3_PROTOCOL = 5 (GPS)
  • GPS has clear view of sky (not indoors)
  • Wait 1-2 minutes for initial lock

No OSD Display

Problem: No on-screen display on FPV goggles

Check:

  • VTX connected to VTX connector (6-pin JST-SH)
  • ArduPilot: OSD_TYPE = 5, SERIAL2_PROTOCOL = 42
  • Betaflight: OSD feature enabled, UART2 set to MSP
  • VTX receiving power (10V BEC enabled - see VTX Power Control)

Next Steps

Now that firmware is installed, proceed to:

First Flight Checklist → Hardware Pinout Reference →

Questions?

Need help with firmware installation?

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