Open Modular Drone - TIRREX Project

Version 1.0.1

Site de ressource pour l'assemblage et l'utilisation des drones modulaires ouverts de la plateforme CNRS Open-perform

Flash ESC

Flash Custom AM32 into the ESC

  1. Download following custom am32 firmware from following table :
Model mcu Bootloader Target Hex file
hglrc Trex STM32F051 PA2 HGLRC35
hglrc Zeus 4in1 STMF051 PA2 HGLRC35
mamba F40 4in1 AT32F421 PB4
aikon single AT32F421 PB4 AIKON_SINGLE
Tekko 32 mini AT32F415 ?!? Tekko32 f415 hex
AM 60 skystar v2 AT32F421 ?!? f421 hex

or download the whole archive here and use the hex file corresponding to the right mcu (written on the chip).

Note : The Tekko32 F4 Metal 4in1 65A ESC (AM32) have never been flashed by the gipsa yet. Though, I would recommend trying the AM32_AT_F4_04_F421_2.16.hex file.

Note 2 : If you use AM60v2 ESC be carefull about the connection between the betaflight kakute and the ESC. With tekko 32 this is not a problem, cf Figure underneath :

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Wiring AM60 kakute h7 mini
  1. Go to following link : https://am32-configurator-f1897c.gricad-pages.univ-grenoble-alpes.fr/ IN CHROME
  2. We use a kakute with BETA-FLIGHT to configure the ESC, connected with the usb-c cable to the computer and the battery to the ESC like on following image :
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Setup with kakute
4. click port select and select your device 5. push the connect button
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Connect to the AM32
6. push read button 7. push flash firmware button 8. tick "ignore current mcu layout", select all 4 ESC and push the Flash local file button.
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Flash ESC

Select the hex file that you downloaded previously

Once the firmware is flashed, configure the system with following parameters
You can directly upload all parameters with this file. To do so, use the “apply config” button on the top right of previous image

And change the music of the ESC, this helps to identify the drones (and is funny)! You can find compatible sounds here

Last updated on 6 Jan 2025
Published on 6 Jan 2025
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Open Modular Drone © 2024 by CNRS - Open-perform is licensed under CC BY 4.0