# PX4 Bootloader Flashing onto Betaflight Systems This page documents how to flash the PX4 bootloader onto boards that are already flashed with Betaflight (e.g. [OmnibusF4 SD](../flight_controller/omnibus_f4_sd.md) or [Kakute F7](../flight_controller/kakutef7.md)). There are three tools that can be used to flash the PX4 bootloader: _Betaflight Configurator_, [dfu-util](https://dfu-util.sourceforge.net/) command line tool, or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) (Windows only). :::info The _Betaflight Configurator_ is easiest, but newer versions may not support non-betaflight bootloader update. You might try it first, but use the other methods if firmware update does not work. ::: ## Betaflight Configurator Bootloader Update :::info _Betaflight Configurator_ may not support PX4 Bootloader update, as of May 2023. Older versions should work, though the precise versions are not known. ::: To install the PX4 bootloader using the _Betaflight Configurator_: 1. Download or build [bootloader firmware](#bootloader-firmware) for the board you want to flash. 2. Download the [Betaflight Configurator](https://github.com/betaflight/betaflight-configurator/releases) for your platform. :::tip If using the _Chrome_ web browser, a simple cross-platform alternative is to install the configurator as an [extension from here](https://chromewebstore.google.com/detail/betaflight-configurator/kdaghagfopacdngbohiknlhcocjccjao?pli=1). ::: 3. PC에 보드를 연결하고 Configurator를 실행합니다. 4. Press the **Load Firmware [Local]** button ![Betaflight Configurator - Local Firmware](../../assets/flight_controller/omnibus_f4_sd/betaflight_configurator.jpg) 5. 파일시스템으로부터 부트로더 바이너리를 선택하고 보드에 설치(flash)합니다. 다음 명령어로 Bootloader를 다운로드하고 빌드하십시오: ## DFU Bootloader Update This section explains how to flash the PX4 bootloader using the [dfu-util](https://dfu-util.sourceforge.net/) or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) tool (Windows only). You will first need to download or build [bootloader firmware](#bootloader-firmware) for the board you want to flash (below, this is referred to as ``). :::info All of the methods below are safe as the STM32 MCU cannot be bricked! DFU는 플래싱으로 덮어쓸 수 없으며 플래싱이 실패하더라도, 항상 새 펌웨어를 설치할 수 있습니다. ::: ### DFU mode Both tools require the board to be in DFU mode. DFU 모드로 들어가려면 USB 케이블을 컴퓨터에 연결하는 동안 부팅 버튼을 누르고 있습니다. The button can be released after the board has powered up. ### dfu-util :::info The [Holybro Kakute H7 v2](../flight_controller/kakuteh7v2.md), [Holybro Kakute H7](../flight_controller/kakuteh7.md) and [mini](../flight_controller/kakuteh7mini.md) flight controllers may require that you first run an additional command to erase flash parameters (in order to fix problems with parameter saving): ``` dfu-util -a 0 --dfuse-address 0x08000000:force:mass-erase:leave -D build//.bin ``` The command may generate an error which can be ignored. Once completed, enter DFU mode again to complete the regular flashing. ::: To flash the bootloader onto the flight controller: ``` dfu-util -a 0 --dfuse-address 0x08000000 -D build//.bin ``` 비행 컨트롤러를 재부팅하면 부팅 버튼을 누르지 않고 부팅됩니다. ### dfuse The dfuse manual can be found here: https://www.st.com/resource/en/user_manual/cd00155676.pdf Use the tool to flash the `.bin` file. ## Bootloader Firmware The tools above flash pre-built bootloader firmware. Bootloader firmware can be built for most targets using the normal PX4 source code, while other targets can only be build using source in the bootloader repository. Flight controllers that have bootloader PX4-Autopilot `make` targets, can build the bootloader from the PX4-Autopilot source. The list of controllers for which this applies can be obtained by running the following `make` command, and noting the `make` targets that end in `_bootloader` ``` $ make list_config_targets ... cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader holybro_kakuteh7v2_bootloader holybro_kakuteh7mini_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader ``` To build for these flight controllers, download and build the [PX4-Autopilot source](https://github.com/PX4/PX4-Autopilot), and then make the target using the following commands: ```sh git clone --recursive https://github.com/PX4/PX4-Autopilot.git cd PX4-Autopilot make # For example: holybro_kakuteh7mini_bootloader ``` For other flight controllers download the [PX4/Bootloader](https://github.com/PX4/PX4-Bootloader) repository and build the source code using the appropriate targets: ``` git clone --recursive https://github.com/PX4/PX4-Bootloader.git cd Bootloader make # For example: omnibusf4sd_bl or kakutef7_bl ``` ## Betaflight 재설치 In order to switch back to _Betaflight_: 1. Backup the PX4 parameters. You can do this by [exporting](../advanced/parameters_and_configurations.md#exporting-and-loading-parameters) them to an SD card. 2. Keep the **bootloader** button pressed while attaching the USB cable 3. Flash _Betaflight_ as usual with the _Betaflight-configurator_