Vertiq has released speed firmware version v0.3.0 for its G2 production modules, introducing expanded functionality and updated communication behaviour.
The firmware is available now for manual download and evaluation via the Vertiq website, and is planned to ship as the default version on all G2 production modules from October 2026. This timeline allows for customer feedback, qualification, and manufacturing transition.
The update applies to:
- 40-06 370Kv, 770Kv | (M34.1, M34.2, M34.3, M34.4, M34.5, M41.1, M41.2, M41.3)
- 40-14 400Kv | (M35.1, M35.2, M35.3, M35.4)
- 60-08 150Kv, 300Kv, 660Kv | (M47.1, M47.2, M40.2, M40.4, M40.5, M48.0, M48.1, M48.2, M48.3)
- 81-08 G2 85Kv, 140Kv, 240Kv | (M16.2, M16.3, M28.2, M28.3, M39.2, M39.3)
- 81-17 G2 110Kv | (M42.0, M42.1, M42.2)
Expanded DroneCAN Configuration
The release expands DroneCAN parameter configuration via GetSet. New configurable options include timeout behaviour, timeout song playback, telemetry style, arming song behaviour, DroneCAN bypass arming, and RGB and white LED strobe settings (enable, period, and pattern).
Configurable Health Monitoring
DroneCAN health monitoring remains enabled by default and will trigger state transitions when criteria are met. Users can now enable or disable individual warning, error, and critical checks via dedicated bitmasks.
Enhanced Error and Status Reporting
The firmware introduces configurable error count reporting. In previous versions, error count represented CAN TX Errors (TEC). Users can now select from TEC, RX Errors (REC), the maximum of both, a combined 32-bit TEC/REC value (upper 16 bits TEC, lower 16 bits REC), or cumulative errors since power-on.
Vendor-specific status bits—specifically bits [8:7] of the uavcan.equipment.esc.StatusExtended message—are used to report the active throttle source, providing visibility when using redundant throttle sources.
Control Behaviour Updates
New stopping behaviours for communication timeout and disarming include coast to stow, coast to brake, and 0V to stow.
Multi Turn Angle Control exposes trajectory queue length over IQUART, providing visibility into queued commands. The Throttle Source Manager client reports the currently active throttle source.
Performance and Communication Improvements
The update expands the minimum motoring supply current limit and maximum settable regeneration supply current in the closed-loop supply current limiter.
RX line pulldown is removed in Hobby Disabled mode. In this configuration, the module skips autodetection and initializes for IQUART communication only.
Bug Fixes
Version 0.3.0 includes fixes to improve reliability and control consistency.
An issue affecting DroneCAN RawCommand messages for seven or more motors has been resolved. High-frequency multi-frame messages could result in intermittent message loss and command holding. Systems transmitting fewer than seven commands per message are not affected.
The update also resolves an issue where modules could rotate unexpectedly on the first position or stow command after startup, and fixes LED flickering when transitioning from strobe disabled to enabled.
Control Center Update
Support for these features will be included in Control Center version 1.10.2, which adds access to the new parameters.
Previous firmware versions will remain available for users who require existing functionality.
