WarpAstron WD-20P Firmware Update – v21.02 Release Notice
Firmware v21.02 for WD-20P mounts is now available — a proactive upgrade designed to enhance both performance and safety.
This firmware required for all WD-20P which running on v21.01.
What’s New in v21.02
1. Optimized Motor PID Parameters
To deliver better tracking stability across a range of payloads, we’ve adjusted the default PID presets for the servo motors.
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In the latest WD-20P hardware, the increased torque performance of the RA motor could, under certain conditions (especially with lightweight OTAs), cause the motor to respond too aggressively, leading to high-frequency vibrations.
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Firmware v21.02 sets the default PID preset to “Med”, with tuned parameters offering a more balanced and stable response across various configurations.
2. Encoder-Based Limit Protection for DEC Axis
This new feature prevents a rare but potentially severe failure mode that may occur under extreme pointing scenarios.
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In some edge cases (e.g., when the mount is aligned to the North Celestial Pole but the saddle points toward the South Celestial Pole), the mount may attempt a full 360° rotation during homing.
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For mounts using internal cable routing, this can cause the cables inside the saddle/dovetail to twist over multiple turns, risking wire damage or disconnection.
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Although this scenario is highly unlikely under normal usage — particularly with external cabling — repeated occurrences may lead to long-term reliability issues.
With v21.02, a new encoder-based soft limit has been added to the DEC axis:
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Ensures the mount always homes via the shortest path
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Operates independently of coordinate accuracy, providing an extra layer of hardware-based protection
This function proactively mitigates the worst-case failure scenario, reflecting our commitment to user safety and engineering foresight.
3. Enhanced Log System
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Improved logging of motor errors, AEB (Automatic Emergency Brake) events, and other key diagnostics
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Speeds up issue identification and resolution during remote support sessions
Upgrade Scope
- Upgrade Level: Required (Required/Optional)
- Applies to WD-20P mounts currently running firmware v21.01
- Primarily units manufactured before August 2025 (check serial number label)
- You may email our support team with your mount’s SN to confirm applicability
How to Check Firmware Version
Via hand controller: Menu → Settings → Configuration → Firmware Ver.
Or by running the Mount Tool software on your PC
How to Upgrade – Remote Desktop Assistance Available
This upgrade includes both the main controller firmware and motor firmware.
To ensure a smooth process and avoid potential flashing errors, we offer a free Remote Desktop (RDP) guided upgrade session.
Estimated Time
10–30 minutes, once remote access is established
How to Schedule Your Upgrade
Visit our Support Page: https://www.warpastron.com/index.php/contactus/
Submit a [Support Request]ticket with your mount’s serial number (SN)
Our support team will contact you to arrange the RDP session and provide the necessary connection information
Requirements for RDP Session
A Windows PC and connected to the mount
Install RustDesk Client (free to use; we’ll provide server address): Download Link
- Online Messaging Tool(Scheduled session required first):
Preferred: Join our Discord Channel WarpAstron Harmonic Mount and contact WarpAstron Support
Or: Use the online chat on our official website
WarpAstron Support Team
August 8, 2025