On the gluonpilot I have now the firmware version you posted here
viewtopic.php?f=4&t=319#p1366 with camera roll stabilization enabled.
That version uses 57600 baud in gluonconfig and that is the source of "hardware detected a framing error" - probably the gluonconfig is using the default 115200 baud.
I have tried using the following command line (with standard 0.52 firmware):
ds30LoaderConsole.exe -k=COM6 -f="rtos_pilot.hex" -p -d=dsPIC33FJ256MC710 -r=57600 -q=0a;5a;5a;3b;31;31;32;33;0a -u=57600 -b=1200 -o
And I get different errors like the following two:
Initiating write...
Sending reset command...ok
Searching for bl .
Unexpected data received, 243bytes, expected max 3, aborting
Firmware version timed out
Tx 10 bytes / Rx 1 byte / 1.5s
Initiating write...
Sending reset command...ok
Searching for bl .
Found PIC24HJ128GP510A fw ver. 12.7.5
Wrong pic detected(71)/selected(199), aborting
Tx 10 bytes / Rx 3 bytes / 1.5s
When using the ds30 Loader Gui and checking for bl I get similar results.