Can anybody tell me which arducopter (quadcopter) firmwire version I CAN use with apm2.0 ? and how can I upload an older version of firmwire? because the mission planner always download and upload latest version.
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You can use the latest version of the firmware, assuming you've mounted your APM on vibration-isolating foam. There is a menu item in the MP firmware screen that allows you to load earlier versions of the code (but you don't need to)