PreArm: UC: Duplicate Node com.hex.here../20!

ArduCopter Copter 4.0
1

The Following Message is printed by the PreArm check:
2020/02/19 7:19:20 : PreArm: UC: Duplicate Node com.hex.here…/20!
What does this mean?

2020/02/19 7:19:20 : PreArm: UC: Duplicate Node com.hex.here…/20!
2020/02/19 7:19:20 : PreArm: Compass not calibrated
2020/02/19 7:19:20 : PreArm: Compass not calibrated
2020/02/19 7:19:20 : PreArm: Throttle below Failsafe
2020/02/19 7:19:08 : EKF2 IMU0 tilt alignment complete
2020/02/19 7:19:08 : EKF2 IMU1 tilt alignment complete
2020/02/19 7:19:07 : EKF2 IMU1 initial yaw alignment complete
2020/02/19 7:19:07 : EKF2 IMU0 initial yaw alignment complete
2020/02/19 7:19:05 : GPS 1: specified as UAVCAN
2020/02/19 7:19:04 : Frame: QUAD
2020/02/19 7:19:04 : CubeYellow 002F002D 3238510D 38323430
2020/02/19 7:19:04 : ChibiOS: cb42c858
2020/02/19 7:19:04 : ArduCopter V4.0.2 (aae944a8)
2020/02/19 7:19:04 : Initialising APM
2020/02/19 7:18:59 : Initialising APM
2020/02/19 7:18:58 : Barometer 3 calibration complete
2020/02/19 7:18:58 : Barometer 2 calibration complete
2020/02/19 7:18:58 : Barometer 1 calibration complete

2

you have to here2’s plugged into the same CAN port? You need to change the node id of one of them (you can do this via the slcan params). Or put the second one on the other can bus and driver

3

Thank you for the appropriate advice.
I have only one Here2 connected to CAN port 1. There are no other devices with CAN. When the CAN ID of Here2 was changed to 21, the error was no longer displayed. Is ID20 something used internally?

4

ArduPilots Default ID is 10, Odd that you had a conflict I guess you didn’t change it? (CAN_D1_UC_NODE)

5

I checked the CAN_D1_UC_NODE. It was the default 10. In this state I tried to return the ID of Here2 to 20 for reconfirmation, but still see the same error.
I’m testing this with YellowCube now. I’ve also tested Black and Orange, but that doesn’t happen.

can_set
can_set712×495 40.9 KB
here2can
here2can837×508 36.3 KB

6

Odd, can you turn on LOG_DISARMED and upload a log of the issue, maybe one of the CAN experts knows whats going on, @rmackay9 @tridge

7

Link of log.
The yellow cube is mounted on the Kore Carrier Board for testing. Here2 is connected to CAN1.

8

Did you ever find a fix for this issue? im using a black cube with only one here2 GPS.

9

Screenshot (426)
Screenshot (426)755×1080 373 KB

Having Same issue with Here2 GPS and other UAVCAN devices.

10

Could be related to persistent UAVCAN device hw id/uavcan id map: