Open source software for autonomous unmanned systems

Compile and install AutoQuad firmware

Installing Crossworks

You need to use Crossworks v. 2.3.5 which you can find here:

This is a quite old 32 bit installer so under Ubuntu 16.04 you will need:

sudo apt install libx11-6:i386 lib32stdc++6 libxrender1:i386 
sudo apt install libxft2:i386 libxtst6:i386 libusb-0.1-4:i386

Uninstalling Crossworks

If you wish to uninstall CrossWorks for ARM, please follow this procedure:

  1. If CrossStudio is running, click File > Exit to shut it down.
  2. Open a terminal window.
  3. Go to the CrossWorks for ARM bin directory (this is /usr/share/crossworks_for_arm_4.0/bin by default).
  4. Run sudo ./uninstall to start the uninstaller.

More info here:

Compile firmware

Please read the notes below, then follow this guide:


The STM library is no longer available at the specified FTP link. Please click here to download.

Crossworks by default output HEX files. The output must be a BIN file.

In the Project Explorer window select “Release-M4.r6-Quatos”

Flash firmware

The firmware can be flashed onto the AutoQuad flight controller using dfu-util.

If you don’t have dfu­util installed run this command under Ubuntu:

sudo apt install dfu-util

dfu-util Flash howto

  1. Connect to MicroUSB connector on the AutoQuad board.
  2. Remember to make a backup of the Quatos license key and all parameters using QGroundControl for AutoQuad.
  3. Turn the AutoQuad off
  4. Hold in BOOT0 button (located next to the ST-Link connector) while powering the AutoQuad on.
  5. Run the command:
sudo dfu-util -a 0 -d 0483:df11 -s 0x08000000 -D autoquad.bin