Firmwares #

Curated firmware builds. TM171 variants are prioritized. Newer/primary builds are listed first; legacy builds are at the bottom. Download Teensy Loader (teensyLoader.exe) load the corresponding firmware and press the white button on Teensy.

AIO (Teensy 4.1) – TM171 focus #

Primary target: AIO boards

Tools

• Teensy Loader (teensyLoader.exe) load HEX here
• Teensy reboot helper (teensy_reboot.exe)

Sources

• Universal (web page) branch: gunicsba/AgOpenGPS_Boards (TM171_univ)
• Hydraulic TM171 branch: gunicsba/AgOpenGPS_Boards (hydliftv2_TM171)
• Keya TM171 branch: gunicsba/AgOpenGPS_Boards (Keya_TM171)

Recommended (TM171)

• AIO universal – TM171 – web page (10.11.2026) TM171 web page OTA Keya / Allynav / FJD DUAL HPR newest One firmware for every AIO board, set up on the built-in web page at http://<subnet>.126/: steering (hydraulic / Cytron / IBT2 / Danfoss, or a Keya, Allynav or FJD motor on CAN), John Deere FEMA input, remote input as a pulse sensor, read-only CAN SASA sensor and CNH engage button, serial ports (auto or manual), BNO085 / TM171 choice, TM171 settings and calibrations, UM982 commands (GNSS tab), firmware update over the network. Dual heading and roll from a UM982's $HPR on one cable: switch it on and set up the receiver on the GNSS tab. Replaces the separate hydraulic / JD FEMA / Keya builds. A new board starts with a Keya motor (set hydraulic on the Setup tab for valves); FEMA is off until set on the web page. First install with Teensy Loader; later updates from the web page.
• Autosteer GPS Teensy v4.1 – TM171 auto – Hydraulic/DC/Danfoss – KSXT DUAL TM171 serial5/7 auto DUAL Auto-detects TM171 on Serial 5 or 7 + KSXT dual antenna support
• Autosteer GPS Teensy v4.1 – TM171 auto – JD Fema PWM – KSXT DUAL TM171 serial5/7 auto DUAL Auto-detects TM171 on Serial 5 or 7 + KSXT dual antenna support
• AOG Keya CANBUS – lazykickoff95 – TM171 autodiscover – KSXT DUAL TM171 serial5/7 auto DUAL Auto-detects TM171 on Serial 5 or 7 + KSXT dual antenna support
• AOG Keya CANBUS – lazykickoff95 – TM171 autodiscover TM171 serial5/7 auto Auto-detects TM171 on Serial 5 or 7
• AOG Keya CANBUS – lazykickoff95 – TM171 TM171
• Autosteer GPS Teensy v4.1 – TM171 serial7 – Hydraulic/DC/Danfoss TM171 serial7 Hydraulic/DC motors + encoder pulse auto-reset tweak
• Autosteer GPS Teensy v4.1 – TM171 serial7 – JD Fema PWM encoder TM171

Other builds
• AOG Keya CANBUS – lazykickoff95 (legacy) legacy
• AOG Teensy UM982 DUAL (by ChrisK) GNSS UM982 dual receiver config for AIO boards
• AOG Keya CANBUS – lazykickoff95 – RVC RVC
• KeyaDemo demo

Config / notes

• 

3xCAN (Tony board) – SteerReadyCAN #

Target: Tony’s 3xCAN Teensy board (SteerReadyCAN variants)

Source

• Web page build: gunicsba/AOG_CAN_Teensy4.1 (webConfig)
• gunicsba/AOG_CAN_Teensy4.1 (deutz)

Recommended (TM171)

• Autosteer AOGv5 Teensy4.1 UDP – SteerReadyCAN – TM171 – web page (02.11.2026) TM171 web page OTA newest Built-in web page at http://<subnet>.126/: tractor brand, GPS mode and serial ports (also AiO port layout), TM171 settings and calibrations, BNO085 / TM171 choice, PVED parameters (read, write, commit, Claas hack, backup / restore, experimental valve auto-calibration), firmware update over the network. First install with Teensy Loader; later updates from the web page.
• Autosteer AOGv5 Teensy4.1 UDP – SteerReadyCAN – TM171 (29.11.2025) TM171 newer Updated CAN firmware for CLAAS
• Autosteer AOGv5 Teensy4.1 UDP – SteerReadyCAN – TM171 TM171 Baseline TM171 build

Rate Control (ESP32) #

Firmware + app/config references (David Rate Controller compatible)

Source (2025 refactor)

• gunicsba/AOG_RC (ESP32RC_refactor25 / ESP32 Rate)

Software

• David Rate Controller App (release 4.1.5)

Section Controller variant

• gunicsba/AOG_RC (MachineBoard / ESP32_Section)

Recommended (end of 2025)

• RC ESP32 – 2025 version (.bin) ESP32 recommended Compatible with David Rate Controller
• RC ESP32 – 2025 config (AgOpenShop) (.rcs) config Firmware companion settings file

Legacy (older Rate Control)

• RC ESP32 – 9th relay as F2 (.bin) ESP32 legacy
• Legacy source: gunicsba/AOG_RC (ESP32RC_refactor / ESP32 Rate)
• Legacy app: RateControllerApp.zip

UM982 config files #

Downloadable UM982 configuration files

• UM982_base.txtconfig
• UM982_HAS_RS232.txtconfig
• UM982_HAS_RS232_skyplot.txtconfig
• UM982_HAS_RS232_DUAL.txtconfig
• UM982_HAS_RS232_DUAL_for_AIO.txtconfig