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The following are two options you may use to flash the firmware HEX file to the Arduino nano board.
The avrdude option is packaged with the Arduino IDE and can be used on all platforms.
The Xloader option is available only for Windows operating system, it may also be used within Windows virtual machines.
Using avrdude to flash the HEX file to the Arduino Nano board.
avrdude -U flash:w:[HEX FILE]:i -e -p atmega328p -b 57600 -c arduino -P [COM PORT]
Example:
$ avrdude -U flash:w:pidflight-lap-firmware-1.2.0.hex:i -e -p atmega328p -b 57600 -c arduino -P /dev/ttyUSB0 avrdude: AVR device initialized and ready to accept instructions Reading | ################################################## | 100% 0.00s avrdude: Device signature = 0x1e950f (probably m328p) avrdude: erasing chip avrdude: reading input file "pidflight-lap-firmware-1.2.0.hex" avrdude: writing flash (7350 bytes): Writing | ################################################## | 100% 2.26s avrdude: 7350 bytes of flash written avrdude: verifying flash memory against pidflight-lap-firmware-1.2.0.hex: avrdude: load data flash data from input file pidflight-lap-firmware-1.2.0.hex: avrdude: input file pidflight-lap-firmware-1.2.0.hex contains 7350 bytes avrdude: reading on-chip flash data: Reading | ################################################## | 100% 1.73s avrdude: verifying ... avrdude: 7350 bytes of flash verified avrdude: safemode: Fuses OK (E:00, H:00, L:00) avrdude done. Thank you.