# DroneCAN FW Upgrade

{% hint style="info" %}
For U-blox Firmware Upgrade, please see [here](/gps-and-rtk-system/f9p-h-rtk-series/u-blox-f9p-firmware-upgrade.md).
{% endhint %}

{% hint style="info" %}
As of September 1, 2024, the Holybro AP-Periph DroneCAN stable firmware does not support the IST8310 and RM3100 sensors. However, support is available in the latest (master) firmware and will be included in the upcoming stable release.

You can download the latest firmware here: [HolybroG4\_GPS Latest Firmware](https://firmware.ardupilot.org/AP_Periph/latest/HolybroG4_GPS/).

If you are working with a custom firmware, you can refer to the following pull request for the necessary code changes: [ArduPilot Pull Request #27878](https://github.com/ArduPilot/ardupilot/pull/27878).
{% endhint %}

### DroneCAN MCU Firmware Upgrade 

Please use Mission Planner 1.3.74 or higher.\
\
Close the parameter setting page, click “Menu>Update” to check available updates. Update the DroneCAN MCU firmware.\
\
After clicking “Update”, it will ask whether to search for updates from the Internet. Click “Yes”. (Automatically searches for upgrades to the latest stable version firmware).

<figure><img src="https://lh6.googleusercontent.com/Geb17-mJV-lOneLgwpoSO2cTki3ZXpn_ocbEZldgKfMSwoj-0YYh0Orvi8ZM8LUskC8uP8ACONBq1VnQJBOAvKDuz_8uF6TRTPQVfpUaMSe1g3W9P1hEu9pmLmRBXfQQrEVKiCRBgOTnuMr2FRtxvg" alt=""><figcaption></figcaption></figure>

If “No update available” appears when searching updates. You can try to turn off your firewall in the system setting and try again. &#x20;

<div align="left"><figure><img src="https://lh4.googleusercontent.com/TCDbjghCBUXv_A6FJpwuNYurQ-53Dgl4kYtFAN0AoHDJj-0-0cIuE5SAL_YxigAE6KWjgkWwbzW3CU93VIu-HVLENCNPFHy5eVvKQYNBe_5lT3vjpGInFlWYqjjforMvbmgorU2GIXZpzEXgH55-LNA" alt=""><figcaption></figcaption></figure></div>

Alternatively, If you have already downloaded the firmware on your local computer from [ArduPilot Firmware](https://firmware.ardupilot.org/)  (name of firmware folder is “HolybroG4-GPS” , and file to download is “AP\_Periph.bin”) , Click “No” and you will be presented with a selection dialog box and then select the firmware file from your local drive.

<figure><img src="https://lh4.googleusercontent.com/Dq2lqY7rSQxcTufRkR5IKO24dT3b-z1KdL1jFTgFQQH7nkojzulV4IihxxCy7J79inRx8UFibIiGEFOD43TBMIP5tYn4BANNVtuyXzu-gXRaQC1cOqOk8Iqv2bO6yZ_UVd4LVUJOOJALZRXa5W1rfyI" alt=""><figcaption></figcaption></figure>

After the upgrade, check whether the version is successfully upgraded.

<figure><img src="https://lh4.googleusercontent.com/Lf3PCSKBBZbyzpLQBOU_V6Bs9yfVdyUIwRCtZ7kicDx8wYixd1xzwk5UKwTkOk-OIjcZMza2iVrJS__oZYbnE8tockk0QTnD81Q-pi3zALp1nrjFG_PHulHW-4qeWu_ngwXMeqTAessSxlymEsiHu60" alt=""><figcaption></figcaption></figure>

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