# Firmware and Software

## Firmware

## gremsyPixyS\_v773\_Official [Latest](https://github.com/Gremsy/PixyS/releases/latest)

**Release Note:**

**Date: 04/06/2023**

**Gremsy Firmware v773 Official**

What's new?

NOTE: Gyro MUST be calibrated after upgrading completely.\
Open gTune --> SETTINGS --> GYRO --> CALIBRATE

NOTE: Users should load the recommended gimbal parameters and perform an AUTO-TUNE process.\
Open gTune --> SETTINGS --> STIFFNESS --> AUTOTUNE

NOTE: Please use the latest gTune Desktop version at <https://github.com/Gremsy/gTuneDesktop/releases/latest>

What's new?

* Add MAVLink integration into the Ardupilot system (AP version 4.3 and above).
* Add gimbal control over MAVLink and gTune connection in COM2, COM4, and micro USB ports.
* Support multiple gimbal control (BETA).
* Add Autotune Stiffness, and Hold Strength parameters (BETA).
* Add MAVLink router.

Improvements

* Improve gimbal control response with remote controller.
* Improve gimbal control logic with MAVLink.
* Improve motor control efficiency.

Fix bugs

<details>

<summary>Download</summary>

* [gremsyPixyS\_v773.zip](https://github.com/Gremsy/PixyS/releases/download/v7.7.3_Official/gremsyPixyS_v773.zip)
* [gremsyPixyS\_v773\_Official.hex](https://github.com/Gremsy/PixyS/releases/download/v7.7.3_Official/gremsyPixyS_v773_Official.hex)
* [PixyS---Sony.a7rIV---SEL55F18Z----7.7.3.xml](https://github.com/Gremsy/PixyS/releases/download/v7.7.3_Official/PixyS---Sony.a7rIV---SEL55F18Z----7.7.3.xml)

</details>

\
Software
--------

## gTuneDesktop v1.4.9.1 - Official [Latest](https://github.com/Gremsy/gTuneDesktop/releases/latest)

**Release Note:**

**Date: 04/06/2023**

**What new ?**

* Detect gimbal pixyS when connect with gTuneDesktop
* Add button import PROFILES gimbal

**#Fixbug:**

* Fix error when connecting gimbal AEVO with gTuneDesktop v1.4.9.0

<details>

<summary>Download</summary>

* [gTuneDesktop1.4.9.1\_Mac\_Official.zip](https://github.com/Gremsy/gTuneDesktop/releases/download/v.1.4.9.1/gTuneDesktop1.4.9.1_Mac_Official.zip)
* [gTuneDesktop1.4.9.1\_Windows\_Official.zip](https://github.com/Gremsy/gTuneDesktop/releases/download/v.1.4.9.1/gTuneDesktop1.4.9.1_Windows_Official.zip)

</details>

<br>