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There are 2 types of IMU modules which the STorM32 v1.x controllers can use, NT IMUs and I2C IMUs, and there are 2 firmwares which correspond to each type. It is important to choose the correct firmware, otherwise your controller and gimbal will not work. Read this page to understand the difference [[1]], and this post to identify your IMU [[2]].

Since firmware version v0.96, the I2C IMU and NT IMU firmware branches have been split, see [[3]]. Firmwares with version numbers v2.xx refer to the NT branch, not usable for setups with I2C camera IMU. If you don't know what a NT IMU is, then you likely have a I2C IMU and need firmware v0.96.

v2.xx Firmware for NT IMUs

Firmware for STorM32 setups using a NT camera IMU.

Direct link to v2.40 firmware download:

o323bgc-release-v240-v20170807 [.zip] (11.0MB)
Release Notes

Latest beta release v2.39e:

o323bgc-release-v239e-v20180630 [.zip] (10.9MB)
Release Notes

NTLoggerTool release v0.41:

ntloggertool-release-v041-v20180609 [.zip] (230MB)


BetaCopter 3.6.0-rc7 v0.11s, derived from Copter 3.6.0-rc7
BetaCopter 3.6-dev v0.12, derived from ArduPilot master of 3.8.2018
binaries and source are available from the github repository

For details on features, please visit Using STorM32 with ArduPilot: BetaCopter.

v0.96 Firmware for I2C IMUs

Firmware for STorM32 setups using I2C IMUs, for gimbals such as the HakRC and all gimbals not using a NT IMU.

Latest firmware v0.96 for I2C IMUs:

o323bgc-release-v096-v20160319 [.zip] (9.4MB)

Comment: This release also includes firmwares for NT IMUs, identifiable by a label "nt" in the file names. Don't use them, use the v0.96 firmware (without a "nt").


The various files related to the STorM32-BGC project can be downloaded from several places:

For other firmware versions see the 1st page of the rcgroups thread: