It appears this version breaks CAN for HERE3 GPS

It appears this version V4.5.4 breaks CAN for HERE3 GPS, see my post >HERE<
Reverting back to V4.3.5 had it working again :+1:

Any advice from devs greatly appreciated

I was just using a Here3 on 4.5.4 without issue last week.

I think we would have widespread reports if this was truly the case (not doubting that you have an issue…rather, suggesting it’s a config issue).

Post parameters or a log file.

Thanks for your reply, I hope it is just me doing something stupid
Here is params…
240626 No GPS working.param.txt (18.2 KB)

Try setting GPS1_CAN_OVRIDE,0.

I did try this, along with over variatiions, without success.
I will try again, however I need to keep plane working on V4.3.5 over the weekend so it will be Monday before I can try again.
Thanks for your advice, have a good weekend
Steve

Hello @Steviegeek @Yuri_Rage,
I am working with copter4.4.4.
I am using can1 port for here3 gps.
can_p1_driver = 1
can1_d1_protocol = 1 (dronecan)
gps_type = 9

It flew for four or five flights after calibration until an inconsistent compass error occurred.
I restarted the drone to fix the issue, however after that, the compass stopped working (compass is not detecting).
It occurs two or three times with me.
I attempted to be detected with multiple firmwares.
I think my gps is dead now.

Sorry I’ve not followed up on my original post, the plane suffered a fatal, unrelated, crash
I’ll be testing my hardware on the bench in the next few days and will post my findings :+1:

Managed to look at this again tonight.

CUBE still had v4.3.5 and when poered on bench with just PWR1, USB and HERE-3 on CAN 1 I get an almost instant fix and long/lat are correct

Did straight update to v4.5.4 no GPS found

Did straight update to v4.5.5 still no GPS found

Reverted back to v3.4.5 and GPS back working :slight_smile:

No other changes made,

I’ve included copies of MP message panel
MP Messages.zip (813 Bytes)

any ideas guys?
Thank You
Steve

Following this saga on…

@sidbh
Thank you for your response, I do appreciate it.

I have done a clean install of v4.5.5.
I reset values to default
I also interim flashed a ‘rover’ build to clear out any remaining ‘plane’ data

I have set :-

  • CAN_P1_DRIVER to 1
  • GPS_TYPE1 to 9
  • NTF_LED_Types to include ‘dronecan’

Still will not see the GPS
GPS_CAN_NODEID1 and GPS_CAN_NODEID2 are reporting 0 and I cannot change it in MP
Reverting back to v4.3.5 works everytime, I’m getting ready to pul out what little hair I still have left :slightly_smiling_face:

I notice that in previous posts I said I was using HERE3, this is a mistake, I have a HERE2
Would my error here affect your advice?

Param files for both versions are attached
two param files.zip (9.9 KB)

Best regards
Steve

PS, comparing both param files shows:-

image

How can I force GPS_CAN_NODEID1 to ‘125’ in v4.5.5 ?

Thank you

==================================
@sidbh
@Michael_Oborne
@philip

I have turned to a Matek H743 WING V3 to try to resolve this issue
Using MP 1.3.82
Using ArduPLANE V4.6.0-dev

Exactly the same issue with the HERE 2 GPS, i.e EKF3 waiting for GPS config data with no GPS detected
GPS_CAN_NODEID1 still defaults to 0 and I am unable to change the value to 125 as previously suggested.

Advice gratefully received, Thank You
Steve

Use stable firmware (4.5.5).

The fact that the node ID remains zero means that your GPS is not discovered. You can’t really force it to be anything, though you can force the order if there is more than one found.

Set:

SERIAL3_PROTOCOL,-1
SERIAL4_PROTOCOL,-1

Try, in addition to CAN_P1_DRIVER,1:

CAN_P2_DRIVER,1

Your habit of repeatedly tagging multiple usernames is probably a bit overzealous and not likely the best way to get support.

Hi, Thanks for your response

I’ve reverted to v4.5.5
I’ve set SERIAL3/4 as suggested
Still no joy, GPS not seen

The Matek H743 only has one CAN port so CAN_P2_DRIVER is not available to configure
When I was using the CUBE Orange I did try both P1 and P2 drivers set to 1, it did not resolve the issue

HW ID tab shows the HERE2 compass on UAVCAN at address 125

What I can’t understand is that if I revert to v4.3.5 the GPS is seen and works instantly bringing in 18 sats on my workbench.
I’m not saying there is anything wrong with versions >4.3.5 (many other people would have flagged up issues) I’m just struggling to find a solution. I don’t want to trash the HERE2 because when it does work its performance is excellent.
I’m considering fitting the Holybro CAN hub as I have a CAN/I2C DLVR airspeed sensor to fit at some stage. Is a hub handled differently? would it help solve this issue?

I’m sorry if tagging other usernames is poor ‘forum ettiquete’ I only added those who had previously responded in this forum and Cubepilot forum
No offence intended :bowing_man:

Thank You
Steve

No gaurantee, but try:
BRD_BOOT_DELAY,5000
If that works try reducing it to see when it stops working after a reboot, usually I use 3000

Good suggestion, thank you, but unfortunately no happy ending, even tried 10secs. (10000) but no luck

I realise I have not shared params for the H743 setup so here is attached
240818 H743 v4.5.5.txt (21.2 KB)

Thank You
Steve

The CAN hub is unlikely to change anything. It’s just a fancy parallel connection to the existing CAN port with its own power supply so that peripherals don’t draw too much through the autopilot itself.

If it’s not too much trouble, revert to your working configuration and download the Here2’s own parameter set by connecting to it via Mission Planner / Setup / Optional Hardware / DroneCAN/UAVCAN. Click the MAVLink-CAN1 button to connect and then right click on the node to get its parameters.

I see that @iampete made some recent updates to the CAN driver. I find it hard to believe that those changes would break anything, but drawing his attention here in case we do have an issue.

Hi,

Using the Matek H743WING V3
reverted to FW 4.3.5

GPS is recognised, sats good, lng/lat position is correct

GPS_CAN_NODEID1 now 125

GPS shows in UAVCAN GPS Order

Here is the parameters you asked for.

HERE2 params v4.3.5.txt (73 Bytes)

and the complete param list for this working configuration

240818 Working H743 v4.3.5.txt (20.6 KB)

Look forward to hearing back from you :smiley:

Thank You
Steve

Unfortunately, I didn’t really see anything there that indicates a problem. I am using multiple u-Blox and Unicore based GPS modules via CAN in 4.5.5 and newer development firmware without issue, as are many others. That doesn’t mean there’s no chance of a bug, but it seems unlikely.

I see that you have flashed Rover and back to Plane as a troubleshooting step, which isn’t a bad idea, but I suppose it had no positive effect.

I do notice that on your working config you have GPS_AUTO_CONFIG,0. I don’t think this will make a difference in 4.5.5, and I typically recommend using the auto configure feature, but it can’t hurt to try making that change, as it’s the only thing that’s different. I expect it will have no effect, as the CAN bus is simply refusing to detect your module.

Except it appears to recognise the compass in the HERE2 so surely it must be seeing the CAN messages.
I have just acquired a Black CUBE with another carrier board so I’ll give that a try but it doesn’t solve the mystery why the CHIBIOS H743WING unit has the same problem.
Only common denominator is the HERE2 so I’ll try re-flashing the HERE2 firmware,
Wish me luck :slight_smile:

The Solution :smiley:

Flash COPTER v4.5.5
Set

  • CAN_P1_DRIVER to 1
  • GPS_TYPE1 to 9
  • NTF_LED_Types to include ‘dronecan’

Check GPS is recognised and lock can be obtained

Flash PLANE v4.5.5
Set

  • CAN_P1_DRIVER to 1
  • GPS_TYPE1 to 9
  • NTF_LED_Types to include ‘dronecan’

All should be good now, PLANE on latest firmware with HERE2 GPS working.
This worked on CUBE BLACK, CUBE ORANGE and Matek H743WING V3
I respectfully suggest that the code for PLANE v4.5.5. has a tiny bug hiding in there somewhere.

Thanks to all who contributed to this thread :slight_smile: