As of AM32 v2.19, ramp speed is adjustable directly in the AM32 configurator (Config Tool v1.93+). For low KV motors and large props, lower the ramp rate in the settings. A separate firmware is no longer required.
Alternatively, you can use the ARK_4IN1_RAMP_F051 firmware which increases the maximum 0-100% ramp time to 200ms. When flashing back and forth from the standard ARK_4IN1 firmware, select "Ignore current MCU layout".
