INAV USB Usage Guide

CoreWingAbout 2 minINAVINAVUSBDFU固件刷写MSC 模式Zadigstm32flash

I. USB DFU Mode Flashing Guide

Basic Flashing Steps

Enter DFU mode. Using a configurator to flash will typically automatically enter DFU mode. If entering DFU mode manually via button, check "No reboot sequence".
Baud rate is irrelevant to DFU. When upgrading firmware, it is recommended to check "Full chip erase".

1.1 Platform-specific Instructions

1. Linux (requires configuring udev permissions)
Method 1: General permission rules
Create file /etc/udev/rules.d/45-stdfu-permissions.rules with the following content:

SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE:="0666"

Method 2: Using user groups (e.g., plugdev for Ubuntu)

(echo "# DFU access"
 echo "SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0664", GROUP="plugdev"") \
 | sudo tee /etc/udev/rules.d/45-stdfu-permissions.rules > /dev/null
sudo usermod -a -G plugdev <你的用户名>

Take effect after restart or logout/login.
2. Windows
Issue: Configurator cannot access DFU device
The solution is to use the Zadig tool to replace the driver:
zadig-2.3.rar

Download and open Zadig.
Select Options → List All Devices.
Select the device STM32 BOOTLOADER.
Select driver WinUSB (v6.x.x.x).
Click Replace Driver.
Restart the configurator.

macOS / USB-C Notes

It is recommended to use a USB-C to USB-A adapter or a hub with an A port.
Pure USB-C cables cannot automatically determine master/slave mode and are prone to connection failures.
Using dfu-util for flashing (Linux CLI tool)

Convert firmware .hex to .bin format:

objcopy -I ihex inav_x.y.z_NNNNNN.hex -O binary inav_x.y.z_NNNNNN.bin

DFU flashing:

dfu-util -d 0483:df11 --alt 0 -s 0x08000000:force:leave -D inav_x.y.z_NNNNNN.bin

Flashing with full erase:

dfu-util -d 0483:df11 --alt 0 -s 0x08000000:mass-erase:force:leave -D inav_x.y.z_NNNNNN.bin

⚠️ Notes

In DFU mode, the FC listens on multiple ports. If devices that continuously send data (such as GPS/receiver) are connected, they will interfere with flashing. Please disconnect these devices or turn off their power.
Old devices or damaged USB interfaces can be flashed via UART.
UART Flashing Method (using stm32flash tool)
Suitable for devices that do not support DFU or have damaged USB interfaces:

Erase firmware (assuming UART port is /dev/ttyUSB0):

stm32flash -o -b 57600 /dev/ttyUSB0

Flash firmware .hex:

stm32flash -w inav_x.y.z_NNNNNN.hex -v -g 0x0 -b 57600 /dev/ttyUSB0

II. USB MSC Mode Introduction

MSC (Mass Storage Class) mode allows you to mount the flight controller board as a USB drive on your computer to directly read log files, such as:

SD card log files
Internal flash memory logs
SD Card vs Internal Flash Memory Differences
| Item | SD Card | Internal Flash (Virtual File System) |
| --- | --- | --- |
| Read/Write Permissions | Read/Write | Read-only |
| Log Display | Actual file structure | Merged into single file (inav_all.bb) + other files |
| Deletion Method | Direct file deletion | Must manually erase using configurator/CLI |
Usage Method (entering msc mode)

Enter CLI mode (via INAV Configurator)
Enter command: msc; the flight controller will automatically restart and enter MSC mode.
Close CLI tools including Configurator, CLI, etc.
Wait for the computer to recognize it as a USB storage device, which usually takes 10-15 seconds.
Copy log files. You can use the system's built-in file manager or commands such as: cp /media/LOGS/LOG00035.TXT ~/logs/
After completion, safely eject the device and power cycle the flight controller
Performance Comparison
| Method | Read Speed | Notes |
| --- | --- | --- |
| USB MSC Mode | ≈ 340 KB/s | 55MB log takes approx. 2 min 40 sec |
| Using Card Reader | ≈ 19 MB/s | 55MB log takes only 2 sec |
Although USB MSC is slower, it is still very useful for situations where the SD card is difficult to access/remove.
————This article is cited from the INAV official website: https://github.com/iNavFlight/inav/blob/master/docs/USB_Mass_Storage_(MSC)_mode.md