Here3, can bus connection order


we have an hexa with two Here 3 GNSS antenna connected through CAN busand in use for redundancy. We already use it with success. Today we noticed a strange behavior:

connecting the batteries, the GNSS LEDs blinked just once, then the system didn’t boot up. Disconnecting the CAN wire (therefore the GNSS antennas) the system powered up successfully.

Changing the order of how we connected the GNSS can wires to the I2C splitter board, allowed us to boot up successfully.

Is it possible that the CAN bus connection order (not the port on the Cube carrier, but the GNSS wires on the splitter) influence if a system boot up or not?

I think it’s not possible, but please help us solving this issue.


That is a known issue in ArduCopter 4.0.x
That issue is solved by updating to ArduCopter 4.1.0-rc4

Thanks @amilcarlucas