Updating IF800 Aircraft Firmware
This page is a guide for updating the firmware on an IF800, as well as necessary parameters and payload firmware.
IF800 Ardupilot Firmware Version History
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
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 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.
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.
Open Mission Planner on a PC.
Connect a USB-C to USB-A cable between the aircraft's USB port and the PC's USB port.
Connect to the vehicle using the MavLINK Com Port Connection.
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.
Save your current parameters for your records
Click, Config
Select Full Parameter List
Save to File as “Pre-update_Params
Check the Lua Scripts on your aircraft
Navigate to Config
Select, the MAVFtp tab
Then, double-click on APM to expand
Once the folder expands, double-click on scripts
Ensure the following two Lua Scripts are on your vehicle:
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.
The two correct scripts can be downloaded from the links below.
8. Drag and drop the needed script(s) from the computer's local drive into the script folder
IF800 script v1_0_flipped_front.lua
Payload_1.lua
9. Verify the Cube Firmware
Navigate to the Messages tab.
Select Disconnect to stop the Messages list from populating.
Scroll through the Messages list and locate the Cube Version for your aircraft (see screenshots below).
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:
IF800 Blue Cube 4.4.4 (or earlier)
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
IF800 Orange Cube+ 4.4.4 (or earlier)
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
IF800 Blue Cube 4.5.6
If your aircraft is a IF800 Blue Cube already running 4.5.6, only parameter changes are necessary. Please proceed to Step 2 to update new IF800 parameters.
IF800 Orange Cube+ 4.5.6
If your aircraft is a IF800 Orange Cube+ already running 4.5.6, only parameter changes are necessary. Please proceed to Step 2 to update new IF800 parameters.
Installing the wrong Cube firmware can cause vehicle instability, so be sure to check Cube version before installing firmware.
11. Ensure the USB cable is still connected to the aircraft and computer.
Select Setup from the top menu
Select Install Firmware from the left side menu
Select Load Custom Firmware from the lower right menu.
DO NOT select a vehicle type, as this will reset your vehicle's parameters.
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.
Locate the previously downloaded firmware file on your PC and install the firmware
Wait for the firmware to update.
The progress bar will fill and a "Complete" message will pop up.
Please note, do not unplug the USB cable until the upload has been completed.
14. Once the updates are complete, unplug the USB cable.
15. Verify Accelerometer and Compass
This step should be completed outdoors for safety
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.
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
In the event that one or more of the status circles is not green, do not attempt to recalibrate. Please contact IFT Customer Success before continuing, as there may be another issue that needs to be addressed.
The firmware update and scripts install are now complete. Restart IGC and reboot the drone.
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