> For the complete documentation index, see [llms.txt](https://gryfn.gitbook.io/gryfn-hardware/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://gryfn.gitbook.io/gryfn-hardware/gryfn-legacy-hardware/gryfn-mojave/firmware.md).

# Firmware

Three primary firmware types existed based on integration necessity from aircraft. These systems are end-of-life and will not receive firmware support going forward.

{% hint style="info" %}
A final, stable, altitude-based triggering firmware was released in September 2026.
{% endhint %}

<table><thead><tr><th width="237.333251953125"></th><th></th></tr></thead><tbody><tr><td>Altitude-based triggering</td><td>Uses GPS data from Applanix APX-15 to begin capturing data at user-controlled altitude</td></tr><tr><td>Altitude threshold</td><td>Configurable through config file. See instructions below.</td></tr><tr><td>Green LED</td><td><ul><li>Starts ON</li><li>BLINKS slowly when APX is initialized</li></ul></td></tr><tr><td>Red LED</td><td><ul><li>Starts ON</li><li>Turns OFF when ground-level altitudes is set</li><li>SINGLE BLINK: Cam 1 event mismatch</li><li>DOUBLE BLINK: Cam 2 event mismatch</li><li>SOLID (post-flight): Both Cam 1 &#x26; Cam 2 event mismatch</li></ul></td></tr></tbody></table>

<details>

<summary>Configuring Altitude Threshold</summary>

<table><thead><tr><th width="89.3333740234375">STEP</th><th>ACTION</th></tr></thead><tbody><tr><td>1</td><td>Connect to Mojave WiFi connection<br>    <em>SSID: *System Serial Number*</em><br>    <em>Password: *System Serial Number*</em></td></tr><tr><td>2</td><td>Open terminal</td></tr><tr><td>3</td><td>Type command:<br><code>ssh pi@192.168.4.1</code><br><br>Enter password when prompted<br><code>gryfngryfn</code></td></tr><tr><td>4</td><td><code>sudo nano /etc/gryfn/config.ini</code></td></tr><tr><td>5</td><td>Modify <code>triggerHeight</code> parameter. Units are meters AGL.</td></tr></tbody></table>

<figure><img src="https://3663321194-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FFpT1hvtNL2gFQqyvg5S5%2Fuploads%2FMqBBiUIthHW2ntMLpOGe%2Fimage.png?alt=media&amp;token=31dd73b0-c67f-4d59-82b4-5daf5652597e" alt="" width="339"><figcaption></figcaption></figure>

</details>

<details>

<summary>Deprecated Firmware</summary>

**PWM-based triggering**

* Uses Pulse Width Modulation, controlled via button, switch, or dial on RC transmitter, to trigger LiDAR, RGB, or thermal capture

**Constant triggering**

* Begins triggering LiDAR, RGB, or thermal capture when system power starts

</details>