Startup Tones and Musical Tones
BLHeli_32 had a robust musical tone system with a large library of melodies and custom note sequences. AM32 supports startup tones but the feature set is simpler — you can configure basic beep sequences but the full musical tone library of BLHeli_32 has not been replicated. For most pilots, this is cosmetic. If custom startup jingles matter to you, keep your existing BLHeli_32 ESCs running as long as they work.
Settings Comparison
| Setting | BLHeli_32 Range | AM32 Range | Recommended |
|---|---|---|---|
| PWM Frequency | 16–96 kHz | 16–48 kHz | 48 kHz (both) |
| Motor Timing | 1–31 (auto default) | 0–30° (auto) | Auto (both) |
| Demag Compensation | Low / High / Off | Off / Low / Medium / High | Low (both) |
| Brake on Stop | 1–100% | 0–100% | 40–60% |
| Rampup Power | 12.5–150% | 12.5–150% | 50–100% |
| Startup Beep Volume | 40–120 | 0–100 | 80 (both) |
| Bidirectional DShot | On / Off | On / Off | On |
Which ESC Brands Ship with Which Firmware
As of 2026, the transition is well underway. Here is the current landscape:
- Ships with AM32 by default: T-Motor Velox series, Flywoo Goku ESCs, iFlight Blitz ESCs (newer revisions), Foxeer Reaper, HAKRC, Skystars, most budget 4-in-1 ESCs released after mid-2024
- Ships with BLHeli_32 (no longer updated): Older Holybro Tekko32, older iFlight SucceX, Airbot, Aikon, Spedix, Diatone Mamba (pre-2024 stock)
- User-flashable to either: Virtually any STM32F0/G0/L4-based ESC. Check the AM32 compatibility list on GitHub.
How to Flash from BLHeli_32 to AM32
The migration process is straightforward but has one critical rule: always remove props first.
- Download and install the AM32 Configurator from GitHub (available for Windows, macOS, and Linux).
- Connect your flight controller via USB and plug in a LiPo (props off!). The ESC must be powered for flashing.
- In the AM32 Configurator, select the correct COM port and click Connect.
- The configurator will detect your ESCs and display the current BLHeli_32 firmware version. Click Flash All.
- Select the correct target for your ESC’s MCU. Most 4-in-1 ESCs use STM32F051 (target:
AM32_F051), while newer ESCs may use STM32G071 or STM32L431. If unsure, check your ESC’s product page or read the MCU silkscreen on the board. - After flashing completes, cycle power. The ESCs will play the AM32 startup tone — a shorter, simpler sequence than BLHeli_32’s melody.
- Verify bidirectional DShot in Betaflight: go to the Motors tab, spin up any motor, and check that RPM values appear in the sensors display.
Common Pitfalls
- Wrong target: Flashing the wrong MCU firmware will brick the ESC temporarily. Recovery is possible via C2 interface or SWD, but it is a hassle. Double-check your MCU before flashing.
- No RPM data after flash: AM32 defaults to bidirectional DShot off. Enable it in the AM32 Configurator under ESC Settings for each ESC.
- Motors twitching on arm: Increase rampup power to 50–75%. AM32 defaults are conservative and may struggle with high-KV motors at low RPM.
- USB power only: You must have a LiPo connected — USB does not power ESCs.
Migration Recommendation for 2026
If your ESCs are running BLHeli_32 and everything flies well, you do not have an emergency. BLHeli_32 will keep working on existing hardware indefinitely. But if you are building a new quad, buying new ESCs, or want continued firmware updates for new Betaflight features, choose hardware that ships with AM32 or that you can flash to AM32. The open-source firmware is now the active standard — BLHeli_32 is frozen in time.
For pilots with large fleets: pick one quad, flash it to AM32, fly 10 packs, and confirm everything works. Once you have a verified procedure, migrate the rest. The flight feel difference is negligible — what you gain is a living firmware with a future.
Braking: Complementary PWM and Damped Light
BLHeli_32 uses “Damped Light” — its term for active freewheeling / synchronous rectification that dumps back-EMF into braking when throttle decreases. AM32 implements the same concept under the name “Complementary PWM.” Electrically, they achieve identical behavior: rapid motor deceleration, crisp propwash response, and the characteristic “braking” sound on zero throttle. If you tune your quad by ear, AM32’s braking sounds slightly softer at default settings but can be tightened with increased brake strength in the configurator.
Startup Tones and Musical Tones
BLHeli_32 had a robust musical tone system with a large library of melodies and custom note sequences. AM32 supports startup tones but the feature set is simpler — you can configure basic beep sequences but the full musical tone library of BLHeli_32 has not been replicated. For most pilots, this is cosmetic. If custom startup jingles matter to you, keep your existing BLHeli_32 ESCs running as long as they work.
Settings Comparison
| Setting | BLHeli_32 Range | AM32 Range | Recommended |
|---|---|---|---|
| PWM Frequency | 16–96 kHz | 16–48 kHz | 48 kHz (both) |
| Motor Timing | 1–31 (auto default) | 0–30° (auto) | Auto (both) |
| Demag Compensation | Low / High / Off | Off / Low / Medium / High | Low (both) |
| Brake on Stop | 1–100% | 0–100% | 40–60% |
| Rampup Power | 12.5–150% | 12.5–150% | 50–100% |
| Startup Beep Volume | 40–120 | 0–100 | 80 (both) |
| Bidirectional DShot | On / Off | On / Off | On |
Which ESC Brands Ship with Which Firmware
As of 2026, the transition is well underway. Here is the current landscape:
- Ships with AM32 by default: T-Motor Velox series, Flywoo Goku ESCs, iFlight Blitz ESCs (newer revisions), Foxeer Reaper, HAKRC, Skystars, most budget 4-in-1 ESCs released after mid-2024
- Ships with BLHeli_32 (no longer updated): Older Holybro Tekko32, older iFlight SucceX, Airbot, Aikon, Spedix, Diatone Mamba (pre-2024 stock)
- User-flashable to either: Virtually any STM32F0/G0/L4-based ESC. Check the AM32 compatibility list on GitHub.
How to Flash from BLHeli_32 to AM32
The migration process is straightforward but has one critical rule: always remove props first.
- Download and install the AM32 Configurator from GitHub (available for Windows, macOS, and Linux).
- Connect your flight controller via USB and plug in a LiPo (props off!). The ESC must be powered for flashing.
- In the AM32 Configurator, select the correct COM port and click Connect.
- The configurator will detect your ESCs and display the current BLHeli_32 firmware version. Click Flash All.
- Select the correct target for your ESC’s MCU. Most 4-in-1 ESCs use STM32F051 (target:
AM32_F051), while newer ESCs may use STM32G071 or STM32L431. If unsure, check your ESC’s product page or read the MCU silkscreen on the board. - After flashing completes, cycle power. The ESCs will play the AM32 startup tone — a shorter, simpler sequence than BLHeli_32’s melody.
- Verify bidirectional DShot in Betaflight: go to the Motors tab, spin up any motor, and check that RPM values appear in the sensors display.
Common Pitfalls
- Wrong target: Flashing the wrong MCU firmware will brick the ESC temporarily. Recovery is possible via C2 interface or SWD, but it is a hassle. Double-check your MCU before flashing.
- No RPM data after flash: AM32 defaults to bidirectional DShot off. Enable it in the AM32 Configurator under ESC Settings for each ESC.
- Motors twitching on arm: Increase rampup power to 50–75%. AM32 defaults are conservative and may struggle with high-KV motors at low RPM.
- USB power only: You must have a LiPo connected — USB does not power ESCs.
Migration Recommendation for 2026
If your ESCs are running BLHeli_32 and everything flies well, you do not have an emergency. BLHeli_32 will keep working on existing hardware indefinitely. But if you are building a new quad, buying new ESCs, or want continued firmware updates for new Betaflight features, choose hardware that ships with AM32 or that you can flash to AM32. The open-source firmware is now the active standard — BLHeli_32 is frozen in time.
For pilots with large fleets: pick one quad, flash it to AM32, fly 10 packs, and confirm everything works. Once you have a verified procedure, migrate the rest. The flight feel difference is negligible — what you gain is a living firmware with a future.
Braking: Complementary PWM and Damped Light
BLHeli_32 uses “Damped Light” — its term for active freewheeling / synchronous rectification that dumps back-EMF into braking when throttle decreases. AM32 implements the same concept under the name “Complementary PWM.” Electrically, they achieve identical behavior: rapid motor deceleration, crisp propwash response, and the characteristic “braking” sound on zero throttle. If you tune your quad by ear, AM32’s braking sounds slightly softer at default settings but can be tightened with increased brake strength in the configurator.
Startup Tones and Musical Tones
BLHeli_32 had a robust musical tone system with a large library of melodies and custom note sequences. AM32 supports startup tones but the feature set is simpler — you can configure basic beep sequences but the full musical tone library of BLHeli_32 has not been replicated. For most pilots, this is cosmetic. If custom startup jingles matter to you, keep your existing BLHeli_32 ESCs running as long as they work.
Settings Comparison
| Setting | BLHeli_32 Range | AM32 Range | Recommended |
|---|---|---|---|
| PWM Frequency | 16–96 kHz | 16–48 kHz | 48 kHz (both) |
| Motor Timing | 1–31 (auto default) | 0–30° (auto) | Auto (both) |
| Demag Compensation | Low / High / Off | Off / Low / Medium / High | Low (both) |
| Brake on Stop | 1–100% | 0–100% | 40–60% |
| Rampup Power | 12.5–150% | 12.5–150% | 50–100% |
| Startup Beep Volume | 40–120 | 0–100 | 80 (both) |
| Bidirectional DShot | On / Off | On / Off | On |
Which ESC Brands Ship with Which Firmware
As of 2026, the transition is well underway. Here is the current landscape:
- Ships with AM32 by default: T-Motor Velox series, Flywoo Goku ESCs, iFlight Blitz ESCs (newer revisions), Foxeer Reaper, HAKRC, Skystars, most budget 4-in-1 ESCs released after mid-2024
- Ships with BLHeli_32 (no longer updated): Older Holybro Tekko32, older iFlight SucceX, Airbot, Aikon, Spedix, Diatone Mamba (pre-2024 stock)
- User-flashable to either: Virtually any STM32F0/G0/L4-based ESC. Check the AM32 compatibility list on GitHub.
How to Flash from BLHeli_32 to AM32
The migration process is straightforward but has one critical rule: always remove props first.
- Download and install the AM32 Configurator from GitHub (available for Windows, macOS, and Linux).
- Connect your flight controller via USB and plug in a LiPo (props off!). The ESC must be powered for flashing.
- In the AM32 Configurator, select the correct COM port and click Connect.
- The configurator will detect your ESCs and display the current BLHeli_32 firmware version. Click Flash All.
- Select the correct target for your ESC’s MCU. Most 4-in-1 ESCs use STM32F051 (target:
AM32_F051), while newer ESCs may use STM32G071 or STM32L431. If unsure, check your ESC’s product page or read the MCU silkscreen on the board. - After flashing completes, cycle power. The ESCs will play the AM32 startup tone — a shorter, simpler sequence than BLHeli_32’s melody.
- Verify bidirectional DShot in Betaflight: go to the Motors tab, spin up any motor, and check that RPM values appear in the sensors display.
Common Pitfalls
- Wrong target: Flashing the wrong MCU firmware will brick the ESC temporarily. Recovery is possible via C2 interface or SWD, but it is a hassle. Double-check your MCU before flashing.
- No RPM data after flash: AM32 defaults to bidirectional DShot off. Enable it in the AM32 Configurator under ESC Settings for each ESC.
- Motors twitching on arm: Increase rampup power to 50–75%. AM32 defaults are conservative and may struggle with high-KV motors at low RPM.
- USB power only: You must have a LiPo connected — USB does not power ESCs.
Migration Recommendation for 2026
If your ESCs are running BLHeli_32 and everything flies well, you do not have an emergency. BLHeli_32 will keep working on existing hardware indefinitely. But if you are building a new quad, buying new ESCs, or want continued firmware updates for new Betaflight features, choose hardware that ships with AM32 or that you can flash to AM32. The open-source firmware is now the active standard — BLHeli_32 is frozen in time.
For pilots with large fleets: pick one quad, flash it to AM32, fly 10 packs, and confirm everything works. Once you have a verified procedure, migrate the rest. The flight feel difference is negligible — what you gain is a living firmware with a future.
ESC Telemetry
Both firmwares report per-ESC telemetry over the DShot line: RPM, temperature, voltage, current, and CRC error count. BLHeli_32 historically had more polished telemetry integration, but AM32 has caught up. In Betaflight OSD, you can display individual ESC temperatures and RPM from either firmware with no difference in setup.
Braking: Complementary PWM and Damped Light
BLHeli_32 uses “Damped Light” — its term for active freewheeling / synchronous rectification that dumps back-EMF into braking when throttle decreases. AM32 implements the same concept under the name “Complementary PWM.” Electrically, they achieve identical behavior: rapid motor deceleration, crisp propwash response, and the characteristic “braking” sound on zero throttle. If you tune your quad by ear, AM32’s braking sounds slightly softer at default settings but can be tightened with increased brake strength in the configurator.
Startup Tones and Musical Tones
BLHeli_32 had a robust musical tone system with a large library of melodies and custom note sequences. AM32 supports startup tones but the feature set is simpler — you can configure basic beep sequences but the full musical tone library of BLHeli_32 has not been replicated. For most pilots, this is cosmetic. If custom startup jingles matter to you, keep your existing BLHeli_32 ESCs running as long as they work.
Settings Comparison
| Setting | BLHeli_32 Range | AM32 Range | Recommended |
|---|---|---|---|
| PWM Frequency | 16–96 kHz | 16–48 kHz | 48 kHz (both) |
| Motor Timing | 1–31 (auto default) | 0–30° (auto) | Auto (both) |
| Demag Compensation | Low / High / Off | Off / Low / Medium / High | Low (both) |
| Brake on Stop | 1–100% | 0–100% | 40–60% |
| Rampup Power | 12.5–150% | 12.5–150% | 50–100% |
| Startup Beep Volume | 40–120 | 0–100 | 80 (both) |
| Bidirectional DShot | On / Off | On / Off | On |
Which ESC Brands Ship with Which Firmware
As of 2026, the transition is well underway. Here is the current landscape:
- Ships with AM32 by default: T-Motor Velox series, Flywoo Goku ESCs, iFlight Blitz ESCs (newer revisions), Foxeer Reaper, HAKRC, Skystars, most budget 4-in-1 ESCs released after mid-2024
- Ships with BLHeli_32 (no longer updated): Older Holybro Tekko32, older iFlight SucceX, Airbot, Aikon, Spedix, Diatone Mamba (pre-2024 stock)
- User-flashable to either: Virtually any STM32F0/G0/L4-based ESC. Check the AM32 compatibility list on GitHub.
How to Flash from BLHeli_32 to AM32
The migration process is straightforward but has one critical rule: always remove props first.
- Download and install the AM32 Configurator from GitHub (available for Windows, macOS, and Linux).
- Connect your flight controller via USB and plug in a LiPo (props off!). The ESC must be powered for flashing.
- In the AM32 Configurator, select the correct COM port and click Connect.
- The configurator will detect your ESCs and display the current BLHeli_32 firmware version. Click Flash All.
- Select the correct target for your ESC’s MCU. Most 4-in-1 ESCs use STM32F051 (target:
AM32_F051), while newer ESCs may use STM32G071 or STM32L431. If unsure, check your ESC’s product page or read the MCU silkscreen on the board. - After flashing completes, cycle power. The ESCs will play the AM32 startup tone — a shorter, simpler sequence than BLHeli_32’s melody.
- Verify bidirectional DShot in Betaflight: go to the Motors tab, spin up any motor, and check that RPM values appear in the sensors display.
Common Pitfalls
- Wrong target: Flashing the wrong MCU firmware will brick the ESC temporarily. Recovery is possible via C2 interface or SWD, but it is a hassle. Double-check your MCU before flashing.
- No RPM data after flash: AM32 defaults to bidirectional DShot off. Enable it in the AM32 Configurator under ESC Settings for each ESC.
- Motors twitching on arm: Increase rampup power to 50–75%. AM32 defaults are conservative and may struggle with high-KV motors at low RPM.
- USB power only: You must have a LiPo connected — USB does not power ESCs.
Migration Recommendation for 2026
If your ESCs are running BLHeli_32 and everything flies well, you do not have an emergency. BLHeli_32 will keep working on existing hardware indefinitely. But if you are building a new quad, buying new ESCs, or want continued firmware updates for new Betaflight features, choose hardware that ships with AM32 or that you can flash to AM32. The open-source firmware is now the active standard — BLHeli_32 is frozen in time.
For pilots with large fleets: pick one quad, flash it to AM32, fly 10 packs, and confirm everything works. Once you have a verified procedure, migrate the rest. The flight feel difference is negligible — what you gain is a living firmware with a future.
ESC Telemetry
Both firmwares report per-ESC telemetry over the DShot line: RPM, temperature, voltage, current, and CRC error count. BLHeli_32 historically had more polished telemetry integration, but AM32 has caught up. In Betaflight OSD, you can display individual ESC temperatures and RPM from either firmware with no difference in setup.
Braking: Complementary PWM and Damped Light
BLHeli_32 uses “Damped Light” — its term for active freewheeling / synchronous rectification that dumps back-EMF into braking when throttle decreases. AM32 implements the same concept under the name “Complementary PWM.” Electrically, they achieve identical behavior: rapid motor deceleration, crisp propwash response, and the characteristic “braking” sound on zero throttle. If you tune your quad by ear, AM32’s braking sounds slightly softer at default settings but can be tightened with increased brake strength in the configurator.
Startup Tones and Musical Tones
BLHeli_32 had a robust musical tone system with a large library of melodies and custom note sequences. AM32 supports startup tones but the feature set is simpler — you can configure basic beep sequences but the full musical tone library of BLHeli_32 has not been replicated. For most pilots, this is cosmetic. If custom startup jingles matter to you, keep your existing BLHeli_32 ESCs running as long as they work.
Settings Comparison
| Setting | BLHeli_32 Range | AM32 Range | Recommended |
|---|---|---|---|
| PWM Frequency | 16–96 kHz | 16–48 kHz | 48 kHz (both) |
| Motor Timing | 1–31 (auto default) | 0–30° (auto) | Auto (both) |
| Demag Compensation | Low / High / Off | Off / Low / Medium / High | Low (both) |
| Brake on Stop | 1–100% | 0–100% | 40–60% |
| Rampup Power | 12.5–150% | 12.5–150% | 50–100% |
| Startup Beep Volume | 40–120 | 0–100 | 80 (both) |
| Bidirectional DShot | On / Off | On / Off | On |
Which ESC Brands Ship with Which Firmware
As of 2026, the transition is well underway. Here is the current landscape:
- Ships with AM32 by default: T-Motor Velox series, Flywoo Goku ESCs, iFlight Blitz ESCs (newer revisions), Foxeer Reaper, HAKRC, Skystars, most budget 4-in-1 ESCs released after mid-2024
- Ships with BLHeli_32 (no longer updated): Older Holybro Tekko32, older iFlight SucceX, Airbot, Aikon, Spedix, Diatone Mamba (pre-2024 stock)
- User-flashable to either: Virtually any STM32F0/G0/L4-based ESC. Check the AM32 compatibility list on GitHub.
How to Flash from BLHeli_32 to AM32
The migration process is straightforward but has one critical rule: always remove props first.
- Download and install the AM32 Configurator from GitHub (available for Windows, macOS, and Linux).
- Connect your flight controller via USB and plug in a LiPo (props off!). The ESC must be powered for flashing.
- In the AM32 Configurator, select the correct COM port and click Connect.
- The configurator will detect your ESCs and display the current BLHeli_32 firmware version. Click Flash All.
- Select the correct target for your ESC’s MCU. Most 4-in-1 ESCs use STM32F051 (target:
AM32_F051), while newer ESCs may use STM32G071 or STM32L431. If unsure, check your ESC’s product page or read the MCU silkscreen on the board. - After flashing completes, cycle power. The ESCs will play the AM32 startup tone — a shorter, simpler sequence than BLHeli_32’s melody.
- Verify bidirectional DShot in Betaflight: go to the Motors tab, spin up any motor, and check that RPM values appear in the sensors display.
Common Pitfalls
- Wrong target: Flashing the wrong MCU firmware will brick the ESC temporarily. Recovery is possible via C2 interface or SWD, but it is a hassle. Double-check your MCU before flashing.
- No RPM data after flash: AM32 defaults to bidirectional DShot off. Enable it in the AM32 Configurator under ESC Settings for each ESC.
- Motors twitching on arm: Increase rampup power to 50–75%. AM32 defaults are conservative and may struggle with high-KV motors at low RPM.
- USB power only: You must have a LiPo connected — USB does not power ESCs.
Migration Recommendation for 2026
If your ESCs are running BLHeli_32 and everything flies well, you do not have an emergency. BLHeli_32 will keep working on existing hardware indefinitely. But if you are building a new quad, buying new ESCs, or want continued firmware updates for new Betaflight features, choose hardware that ships with AM32 or that you can flash to AM32. The open-source firmware is now the active standard — BLHeli_32 is frozen in time.
For pilots with large fleets: pick one quad, flash it to AM32, fly 10 packs, and confirm everything works. Once you have a verified procedure, migrate the rest. The flight feel difference is negligible — what you gain is a living firmware with a future.
If you have been flying FPV for more than a season, your ESCs are almost certainly running BLHeli_32 firmware. That firmware defined an entire generation of quadcopter performance — until development stopped cold in mid-2024. The BLHeli_32 maintainer pulled the plug, and the official configurator and firmware downloads vanished from the Chrome Web Store. If you want bidirectional DShot, RPM filtering, and continued firmware updates in 2026, you need to understand AM32 — the open-source alternative that has matured into a genuine replacement. Here is everything you need to make the switch.
Architecture: Closed vs Open Source
BLHeli_32 is closed-source firmware developed by a single maintainer (sskaug) and distributed as pre-compiled hex files. The source code was never public, and the configurator — BLHeliSuite32 — was a paid Chrome application. When the maintainer stopped development in 2024, the entire toolchain became abandonware overnight. There is no fork, no community continuation, and no guarantee any new ESC hardware will ever receive BLHeli_32 support again.
AM32 (short for “AM32 Open-Source ESC Firmware”) is the opposite. Hosted on GitHub under GPL v3, it has multiple active contributors and a free, cross-platform configurator (AM32 Configurator). It targets the same STM32-based ESC hardware that BLHeli_32 ran on, which means most BLHeli_32 ESCs can be cross-flashed. The community maintains it, so when new MCUs or features arrive, AM32 gets support.
| Feature | BLHeli_32 | AM32 |
|---|---|---|
| License | Closed-source / proprietary | GPL v3 open source |
| Configurator | BLHeliSuite32 (abandoned) | AM32 Configurator (active) |
| Active development | Stopped mid-2024 | Active — 2026 |
| New ESC support | None planned | Ongoing |
| Cross-platform | Windows-only (Chrome legacy) | Windows / macOS / Linux |
| Cost | Configurator was paid | Completely free |
PWM Frequency and DShot Protocol Support
Both firmwares support the full DShot suite: DShot150, DShot300, DShot600, and DShot1200. On the PWM side, BLHeli_32 historically offered slightly higher maximum frequencies (up to 96 kHz on some hardware), while AM32 typically runs up to 48 kHz by default. In practice, 48 kHz PWM is the sweet spot for 99% of pilots — higher rates generate more ESC heat with minimal efficiency gain on small motors. Both firmwares support variable PWM frequency and auto-timing.
Bidirectional DShot and RPM Filtering
This is the killer feature that makes the firmware matter at all. Bidirectional DShot lets the ESC report actual motor RPM back to the flight controller on every telemetry packet, which Betaflight uses for RPM filtering — notch filters that track motor speed and eliminate motor-speed-correlated noise with surgical precision. Both BLHeli_32 (version 32.7+) and AM32 (all modern releases) support bidirectional DShot fully. The RPM data quality is comparable, and Betaflight does not care which firmware generates the packets as long as they arrive on time.
ESC Telemetry
Both firmwares report per-ESC telemetry over the DShot line: RPM, temperature, voltage, current, and CRC error count. BLHeli_32 historically had more polished telemetry integration, but AM32 has caught up. In Betaflight OSD, you can display individual ESC temperatures and RPM from either firmware with no difference in setup.
Braking: Complementary PWM and Damped Light
BLHeli_32 uses “Damped Light” — its term for active freewheeling / synchronous rectification that dumps back-EMF into braking when throttle decreases. AM32 implements the same concept under the name “Complementary PWM.” Electrically, they achieve identical behavior: rapid motor deceleration, crisp propwash response, and the characteristic “braking” sound on zero throttle. If you tune your quad by ear, AM32’s braking sounds slightly softer at default settings but can be tightened with increased brake strength in the configurator.
Startup Tones and Musical Tones
BLHeli_32 had a robust musical tone system with a large library of melodies and custom note sequences. AM32 supports startup tones but the feature set is simpler — you can configure basic beep sequences but the full musical tone library of BLHeli_32 has not been replicated. For most pilots, this is cosmetic. If custom startup jingles matter to you, keep your existing BLHeli_32 ESCs running as long as they work.
Settings Comparison
| Setting | BLHeli_32 Range | AM32 Range | Recommended |
|---|---|---|---|
| PWM Frequency | 16–96 kHz | 16–48 kHz | 48 kHz (both) |
| Motor Timing | 1–31 (auto default) | 0–30° (auto) | Auto (both) |
| Demag Compensation | Low / High / Off | Off / Low / Medium / High | Low (both) |
| Brake on Stop | 1–100% | 0–100% | 40–60% |
| Rampup Power | 12.5–150% | 12.5–150% | 50–100% |
| Startup Beep Volume | 40–120 | 0–100 | 80 (both) |
| Bidirectional DShot | On / Off | On / Off | On |
Which ESC Brands Ship with Which Firmware
As of 2026, the transition is well underway. Here is the current landscape:
- Ships with AM32 by default: T-Motor Velox series, Flywoo Goku ESCs, iFlight Blitz ESCs (newer revisions), Foxeer Reaper, HAKRC, Skystars, most budget 4-in-1 ESCs released after mid-2024
- Ships with BLHeli_32 (no longer updated): Older Holybro Tekko32, older iFlight SucceX, Airbot, Aikon, Spedix, Diatone Mamba (pre-2024 stock)
- User-flashable to either: Virtually any STM32F0/G0/L4-based ESC. Check the AM32 compatibility list on GitHub.
How to Flash from BLHeli_32 to AM32
The migration process is straightforward but has one critical rule: always remove props first.
- Download and install the AM32 Configurator from GitHub (available for Windows, macOS, and Linux).
- Connect your flight controller via USB and plug in a LiPo (props off!). The ESC must be powered for flashing.
- In the AM32 Configurator, select the correct COM port and click Connect.
- The configurator will detect your ESCs and display the current BLHeli_32 firmware version. Click Flash All.
- Select the correct target for your ESC’s MCU. Most 4-in-1 ESCs use STM32F051 (target:
AM32_F051), while newer ESCs may use STM32G071 or STM32L431. If unsure, check your ESC’s product page or read the MCU silkscreen on the board. - After flashing completes, cycle power. The ESCs will play the AM32 startup tone — a shorter, simpler sequence than BLHeli_32’s melody.
- Verify bidirectional DShot in Betaflight: go to the Motors tab, spin up any motor, and check that RPM values appear in the sensors display.
Common Pitfalls
- Wrong target: Flashing the wrong MCU firmware will brick the ESC temporarily. Recovery is possible via C2 interface or SWD, but it is a hassle. Double-check your MCU before flashing.
- No RPM data after flash: AM32 defaults to bidirectional DShot off. Enable it in the AM32 Configurator under ESC Settings for each ESC.
- Motors twitching on arm: Increase rampup power to 50–75%. AM32 defaults are conservative and may struggle with high-KV motors at low RPM.
- USB power only: You must have a LiPo connected — USB does not power ESCs.
Migration Recommendation for 2026
If your ESCs are running BLHeli_32 and everything flies well, you do not have an emergency. BLHeli_32 will keep working on existing hardware indefinitely. But if you are building a new quad, buying new ESCs, or want continued firmware updates for new Betaflight features, choose hardware that ships with AM32 or that you can flash to AM32. The open-source firmware is now the active standard — BLHeli_32 is frozen in time.
For pilots with large fleets: pick one quad, flash it to AM32, fly 10 packs, and confirm everything works. Once you have a verified procedure, migrate the rest. The flight feel difference is negligible — what you gain is a living firmware with a future.