A little confused by the download options

Trying to figure out the best stable download for a Pixhawk 2.4.8, but I am honestly confused by the GitHub and download options. Does anyone have a suggestion for which version to download? How can I tune the parameters once I have picked a download? Thanks in advance!

Go here, download the .apj file and flash it with Mission planners “load custom firmware”. If there are any errors then try the Fmuv3 version. There are different versions of those generic 2.4.8’s.
Pixhawk1

Ardurover

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Fmu v3 work on 2.4.8 if have 2mb, you can also use pixhawk 1 (bdshot) fw if you need bdshot.

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Thank you! I really appreciate it!

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