Legacy Firmware Update


This DFU system is deprecated. The new DFU system is documented here.

This page guides you through the process of updating the ODrive to the newest firmware using the legacy DFU system.


Your configuration will be erased during a firmware update. See Configuration Backup if you want to keep it.

  1. Make sure you have odrivetool installed.

  2. Put your ODrive into DFU mode. To do this, put the DFU switch into the “DFU” position, as indicated on the image below. Then power-cycle the ODrive.

    ODrive S1 DFU switch

    This step is mandatory if your current firmware version is 0.6.5 or 0.6.6, or if the previous update attempt failed. In other cases it is optional but can help to reduce room for errors.

  3. Open up a terminal and run the following command:

    odrivetool legacy-dfu

    This will wait for an ODrive to be connected and then check online for the latest stable firmware release for your ODrive version.

    You may see one or more prompts which you can confirm by typing y and Enter.

    Below is an example output of odrivetool legacy-dfu. Your exact output may differ depending on various factors.

    ODrive control utility v0.6.7
    Waiting for ODrive...
    Hardware version detection not yet supported for this ODrive. Is this an ODrive S1? [y/N] y
    Checking online for latest ODrive S1 firmware on channel master...
    Found compatible firmware (0.6.7). Install now? [Y/n] Y
    Downloading firmware...
    The device may have user configuration that will be lost after the firmware upgrade. If you want to back this up please run `odrivetool backup-config` first. Do you want to continue anyway? [Y/n] Y
    Erasing... done
    Flashing... done
    Verifying... done
    Firmware upload successful.
    To complete the firmware update, set the DFU switch to "RUN" and power cycle the board.
  4. Put the DFU switch back to its original position and power-cycle the ODrive.

Other Options

  • Install firmware from our semi-stable development channel:

    odrivetool legacy-dfu --channel devel
  • Install a specific firmware version (0.6.7 in this example):

    odrivetool legacy-dfu --version 0.6.7
  • Install a local firmware file:

    odrivetool legacy-dfu firmware.elf

    You can manually download firmware files from here.


    Make sure the selected firmware file matches your hardware version! There are no checks in place to prevent you from installing incompatible firmware.


  • In some (but not all) cases it is necessary to force the ODrive into DFU mode before running odrivetool legacy-dfu. See step 2 above for details.

  • On some machines you will need to unplug and plug back in the USB cable to make the PC understand that we switched from regular mode to bootloader mode.

  • Operating System specific issues:

    You may need to tell Windows to use the correct driver for the ODrive in DFU mode. Download and open the Zadig utility. In the device list, select “DFU in FS Mode” and select the driver “libusb-win32”. Then click “(Re)Install Driver”.



    Do not use Zadig on an ODrive that is in RUN mode (this would show up as “Native Interface” in Zadig).

    If you’ve used Zadig on an ODrive in RUN mode before (for instance when migrating from ODrive v3.x), it may be necessary to remove any/all drivers installed with Zadig utility. Detailed instructions can be found here.