> For the complete documentation index, see [llms.txt](https://agamrobotics.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://agamrobotics.gitbook.io/docs/autopilots-flight-controller/quickstart/firmware.md).

# Firmware

Agam Autopilot V6X-RT supports only PX4 firmware from version V1.15 release or later.

[PX4](https://github.com/PX4/PX4-Autopilot/releases)

QGroundControl

### Install Stable PX4 <a href="#install-stable-px4" id="install-stable-px4"></a>

Generally you should use the most recent *released* version of PX4, in order to benefit from bug fixes and get the latest and greatest features.

To install PX4:

1. Start *QGroundControl* and connect the vehicle.
2. Select **"Q" icon > Vehicle Setup > Firmware** (sidebar) to open *Firmware Setup*.

<figure><img src="/files/03kyRNFmXXeDjnTySYye" alt=""><figcaption></figcaption></figure>

3. Connect the flight controller directly to your computer via USB.

{% hint style="info" %}
Note

Connect directly to a powered USB port on your machine (do not connect through a USB hub).
{% endhint %}

4. Select the **PX4 Flight Stack V.1.15.x Release** option to install the latest stable version of PX4 *for your Agam Autopilot v6X-RT.* (autodetected).

{% hint style="info" %}
Agam Autopilot V6X-RT doesn't support Ardupilot and do not attempt to flash Ardupilot. This will **void the warranty of the hardware**.
{% endhint %}

5. Click the **OK** button to start the update.

The firmware will then proceed through a number of upgrade steps (downloading new firmware, erasing old firmware etc.). Each step is printed to the screen and overall progress is displayed on a progress bar.

<figure><img src="/files/h3ukwk5AYCj0TLeKTMmi" alt=""><figcaption></figcaption></figure>

Once the firmware has completed loading, the device/vehicle will reboot and reconnect.

## Installing PX4 Master, Beta or Custom Firmware

To install a different version of PX4:

1. Connect the vehicle as above, and select PX4 Flight Stack v1.15.x Stable Release.<br>

Check **Advanced settings** and select the version from the dropdown list:

* **Standard Version (stable):** The default version (i.e. no need to use advanced settings to install this!)
* **Beta Testing (beta):** A beta/Release Candidate(RC) . Only available when a new release is being prepared.
* **Developer Build (master):** The latest build of PX4/PX4-Autopilot.
* **Custom Firmware file...:** A custom firmware file (e.g. that you have built locally). If you select this you will have to choose the custom firmware from the file system in the next step.

Firmware update then continues as before.

<figure><img src="/files/vzC2Wl9NLcLQoXVnck0k" alt=""><figcaption></figcaption></figure>