Firmware vs software: Whats the difference?

(If the board has ArduPilot already installed, see Loading Firmware for firmware loading instructions. Any of the technique in the JTAG Reference can be used, such as the Particle Debugger, ST-LINK/v2 (for Gen 2), or Segger J-Link, to flash hex files to your devices. Zip archive repacked with this missing MMU firmware file and currently [...]