# Updating IF800 Aircraft Firmware

<details>

<summary>IF800 Ardupilot Firmware Version History</summary>

#### IF800 4.5.6.3

**Release Date: Feb 18, 2026**

Updated the following parameters:

* EK3\_GPS\_VACC\_MAX 5
* EK3\_SRC1\_POSZ 3
* GPS\_HDOP\_GOOD 100
* GPS\_POS1\_X -.22
* GPS\_POS1\_Y 0
* GPS\_POS1\_Z -.04
* GPS\_POS2\_X -.02
* GPS\_POS2\_Y 0
* GPS\_POS2\_Z -.05
* LOG\_BITMASK 438142

#### IF800 4.5.6.2

**Release Date: Sep 22, 2025**

Updated the following parameters:

* Removed commas in list to cleanup
* Added CAM2\_TYPE = 5
* RELAY1\_PIN (name changed from RELAY\_PIN)
* Added RELAY1\_FUNCTION = 1

#### IF800 4.5.6.1

**Release Date: Feb 5, 2025**

Updated the following parameters:

* RTL\_ALT = 3000
* RTL\_SPEED = 1500
* RTL\_LOIT\_TIME = 2000
* WPNAV\_SPEED\_DN = 200
* LAND\_SPEED = 50
* BATT\_ARM\_VOLT = 22.5
* BATT2\_ARM\_VOLT = 22.5
* RTL\_CONE\_SLOPE = 3

#### IF800 4.5.6

**Release Date: Oct 7, 2024**

First Ardupilot 4.5.6 firmware build

#### IF800 4.4.4

**Release Date: May 29, 2024**

Official IF800 Ardupilot 4.4.4 build

Updated the following parameters:

* Removed commas in list to cleanup
* Added CAM2\_TYPE = 5
* RELAY1\_PIN (name changed from RELAY\_PIN)
* Added RELAY1\_FUNCTION = 1

</details>

{% embed url="<https://www.youtube.com/watch?v=OQhZN2Spgv8>" fullWidth="false" %}

{% hint style="warning" %}
This firmware is compatible with Herelink aircraft using Gremsy VIO, Sony LR1, Sentera cameras, and LIDAR payloads only. If you have any custom solutions, Micasense, PhaseOnes, A7R, A6500, SROC controllers, LRT models, etc, **this update is not compatible.** Please [contact Customer Success](https://www.inspiredflight.com/support.php) for more info. \
\
If you'd like to schedule a time with our Customer Success team to assist with these updates, please [click here to book a call.](https://calendar.google.com/calendar/u/0/appointments/schedules/AcZssZ3IFQCX28SA9S9agBwapejZs4_Eu-PN1yDGAZ5rhpgqlIW1P_ikvOWMKeprX1eCDRM5G5q_wdss)
{% endhint %}

{% hint style="info" %}
For safety, remove IF800 batteries and keep IF800 arms folded and propeller holders installed during upgrade process. Powering on the aircraft is not required for this update.&#x20;
{% endhint %}

1. &#x20;Open [Mission Planner](https://ardupilot.org/planner/docs/mission-planner-installation.html) on a PC.
2. Connect a USB-C to USB-A cable between the aircraft's USB port and the PC's USB port.
3. Connect to the vehicle using the MavLINK Com Port Connection.&#x20;

* **Note:** the COM number may change but always select the "**MavLink**" option.
* Then, select **Connect** in the upper right corner.
* If "MavLink" option is not available, choose "AUTO" and connect. &#x20;

<figure><img src="/files/ub0MjPjzyGMUkTBNvdbJ" alt=""><figcaption></figcaption></figure>

4. Save your current parameters for your records&#x20;

* Click, **Config**&#x20;
* Select **Full Parameter List** &#x20;
* **Save to File** as “Pre-update\_Params&#x20;

<figure><img src="/files/gH0WUgy5JBvNlSC0Ri0g" alt=""><figcaption></figcaption></figure>

5. Check the Lua Scripts on your aircraft&#x20;

* Navigate to **Config**
* Select, the **MAVFtp** tab&#x20;

<figure><img src="/files/joEdSTcMbRZ3EM3A02H1" alt=""><figcaption></figcaption></figure>

* Then, double-click on **APM** to expand&#x20;
* Once the folder expands, double-click on **scripts**&#x20;

<figure><img src="/files/GJRIgRyrrHmwyU3FpWHy" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/2g54PY5b4Hi4UaxvnIcw" alt=""><figcaption></figcaption></figure>

6. Ensure the following two Lua Scripts are on your vehicle:&#x20;

   * IF800 script v1\_0\_flipped\_front.lua
   * payload\_1.lua **OR** payload\_1\_final.lua

   If the scripts do not match the above file names, you will need to download the correct scripts and install them on the aircraft.  Delete the incorrect scripts by right clicking and selecting delete.\
   &#x20;
7. &#x20;The two correct scripts can be downloaded from the links below. &#x20;

* [IF800 script v1\_0\_flipped\_front.lua](https://ift-firmware.s3.us-west-1.amazonaws.com/scripts/IF800+script+v1_0_flipped_front.lua)
* [payload\_1.lua](https://ift-firmware.s3.us-west-1.amazonaws.com/scripts/payload_1.lua)

8\. Drag and drop the needed script(s) from the computer's local drive into the script folder&#x20;

* IF800 script v1\_0\_flipped\_front.lua&#x20;
* Payload\_1.lua&#x20;

<figure><img src="/files/1Jdf5CTf9vOmZGOwiFIW" alt=""><figcaption></figcaption></figure>

9\. Verify the Cube Firmware&#x20;

* Navigate to the Messages tab.&#x20;
* Select Disconnect to stop the Messages list from populating.&#x20;
* Scroll through the Messages list and locate the Cube Version for your aircraft (see screenshots below).&#x20;

<figure><img src="/files/Vk22q8rkcLF1odGg2jd4" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/SnpST6Fom8bUinqfH4vn" alt=""><figcaption></figcaption></figure>

* There is a different firmware file available depending on your airframe and Cube type. **It is important to download the correct cube firmware.** The possibilities for the IF800 firmware states are as follows:&#x20;

<mark style="color:blue;background-color:blue;">**IF800 Blue Cube 4.4.4 (or earlier)**</mark>

If your aircraft is a IF800 Blue Cube running 4.4.4 or earlier (4.2.2, etc), download the following firware file to upgrade to 4.5.6.3: [IF800 Blue Cube 4.5.6.3](https://ift-firmware.s3.us-west-1.amazonaws.com/cube/IF800-4.5.6.3-CubeBlue.apj)

<div align="left"><figure><img src="/files/hdJYqImg4kItzjmbrv9c" alt=""><figcaption></figcaption></figure></div>

<mark style="color:orange;background-color:orange;">**IF800 Orange Cube+ 4.4.4 (or earlier)**</mark>  &#x20;

If your aircraft is a IF800 Orange Cube+ running 4.4.4 or earlier (4.2.2, etc), download the following firware file to upgrade to 4.5.6.3: [IF800 Orange Cube+ 4.5.6.3](https://ift-firmware.s3.us-west-1.amazonaws.com/cube/IF800-4.5.6.3-CubeOrangePlus.apj)

<div align="left"><figure><img src="/files/aYTKudwDnem41qPA5a0o" alt=""><figcaption></figcaption></figure></div>

<mark style="color:blue;background-color:blue;">**IF800 Blue Cube 4.5.6**</mark>

If your aircraft is a IF800 Blue Cube already running 4.5.6, only parameter changes are necessary. Please proceed to [Step 2](#step-2-update-new-if800-parameters) to update new IF800 parameters.

<div align="left"><figure><img src="/files/wOXvwCzraR7m6tsBeCUA" alt=""><figcaption></figcaption></figure></div>

<mark style="color:orange;background-color:orange;">**IF800 Orange Cube+ 4.5.6**</mark>  &#x20;

If your aircraft is a IF800 Orange Cube+ already running 4.5.6, only parameter changes are necessary. Please proceed to [Step 2](#step-2-update-new-if800-parameters) to update new IF800 parameters.

<div align="left"><figure><img src="/files/KxK5bytG5oHr1EHbqBjG" alt=""><figcaption></figcaption></figure></div>

{% hint style="danger" %}
**Installing the wrong Cube firmware can cause vehicle instability, so be sure to check Cube version before installing firmware.**&#x20;
{% endhint %}

11\. Ensure the USB cable is still connected to the aircraft and computer.&#x20;

12. Select Setup from the top menu&#x20;

* Select **Install Firmware** from the left side menu&#x20;
* Select **Load Custom Firmware** from the lower right menu.&#x20;

{% hint style="danger" %}
**DO NOT select a vehicle type**, as this will reset your vehicle's parameters.&#x20;
{% endhint %}

<figure><img src="/files/EgwiuQk2iLyvYUhZmvNY" alt=""><figcaption></figcaption></figure>

{% hint style="danger" %}
If you are receiving the warning below, you did not click disconnect inside mission planner. **Do not upgrade the bootloader**. Click NO, and then click disconnect in the top right hand side.
{% endhint %}

<figure><img src="/files/BCrgyjyxkN0Cnrd1QjwZ" alt=""><figcaption></figcaption></figure>

13. Locate the previously downloaded firmware file on your PC and install the firmware

* Wait for the firmware to update.&#x20;
* The progress bar will fill and a "Complete" message will pop up.&#x20;

{% hint style="warning" %}
Please note, do not unplug the USB cable until the upload has been completed.&#x20;
{% endhint %}

<figure><img src="/files/Jds7Ghl7wWqHwj3BEozt" alt=""><figcaption></figcaption></figure>

14\. Once the updates are complete, unplug the USB cable. &#x20;

15\. Verify Accelerometer and Compass &#x20;

*<mark style="background-color:yellow;">This step should be completed outdoors for safety</mark>*&#x20;

* Install a single aircraft battery. (This is an additional safety precaution, as the vehicle will not arm with a single battery.)
* Turn on the GCS and aircraft.
* Open the IGC App.
* Select the **IFT** logo in the top left.
* Select **Vehicle Setup**.

<figure><img src="/files/GM7xOWmMh6J3n6vOfrSr" alt=""><figcaption></figcaption></figure>

* Select **Summary**.
* **Frame**, **Radio**, and **Sensors** should all have a green circle next to them.
* In the **Frame** window, ensure **Frame Class** is Quad, **Frame Type** is V, and **Firmware Version** is 4.5.6

{% hint style="danger" %}
In the event that one or more of the status circles is not green, do not attempt to recalibrate. Please contact [IFT Customer Success](https://www.inspiredflight.com/support.php) before continuing, as there may be another issue that needs to be addressed.&#x20;
{% endhint %}

<figure><img src="/files/GWdOPzNSyLeJybYHfgyo" alt=""><figcaption></figcaption></figure>

16. The firmware update and scripts install are now complete.  Restart IGC and reboot the drone.


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