# 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>


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://docs.gremsy.com/gimbals/pixy-s/user-manual/firmware-and-software.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.