Run Ardupilot on Here4?

Hardware Multirotors
1

Hi folks,

I need a new autopilot and I see the Here4 (as well as the Here3+?) can run Ardupilot - the Here4 has a good processor, GPS, barometer, compass, a breakout board with PWM outputs, etc.

Anyway, before I commit, can anyone verify this? I don’t see a specific firmware for it on the downloads page, is it perhaps in the works?

Thanks…

2

Its in the works - the module isn’t even being shipped afaik. You can pre-order on several vendors though.

3

Thanks - and do you know if there’s an Arducopter firmware for the Here3+?

4

…………….

There is not.

5

Thanks Dave. Appreciated.

6

I worked a little on a Here3+ implementation, but it was a bit beyond my skill set, and my requests for help went unanswered.

A Here3+ implementation would mostly just be a curiosity anyway. But the Here4 could really be useful, once it’s made available.

7

Agreed - yes - I wonder if AI could write the code for the Here4? :slight_smile:

8

There’s no need for that nonsense. It isn’t a difficult exercise to write and test a hwdef. I ran into a minor roadblock that I’m sure is easy to solve on the Here3+, I just didn’t get any support and gave up.

1 Like
9

It says in the manual:
Here 4 can enable flight controller function by connect to a Breakout board.

(Current firmware does not support this function)

Not good to see after trying to rig it up for testing!

10

Does anyone have any info on when the updated firmware might be available to enable the Here4 to be used as the primary autopilot?

2 Likes
11

Just following up on this. Any changes or improvements to the process yet ?

12

Yes, Here4 is officially supported since 4.5.0

2 Likes
13

Thanks. Has there been any docs as I can’t see much that’s newer than Jan, it’s all still rather loose.

14

One post on CubePilot. A novelty…

1 Like
16

Sorry o don’t understand what point you are trying to make.

17

I’m trying to get this working, but haven’t had any success.

I’ve got a here4 connected to the breakout board with the 11-pin and 10-pin connectors. I’ve connected over CAN through a Cube Orange, and can see it appear in the DroneCAN/UAVCAN menu, and have updated the firmware.

Step1 ‘updating Here4 Bootloader’ https://docs.cubepilot.org/user-guides/here-4/here-4-manual#id-8.-installing-ardupilot-on-here4 has a link to firmware update, but it goes to the herelink page, I assume that link should instead go to the firmware update section further up the same page?

I can search for the flash_bootloader parameter, set to 1, and refresh and see it go back to 0.

However, when I try to connect with a serial to USB adapter (I’ve tried two different ones, in both rx/tx orientations) I can’t get it to show up on Mission Planner to install the firmware. A COM port shows up, but no board gets found on the install firmware page.

Should the here4 be power cycled between Step 1 and Step 2 of that installing ardupilot guide? does it matter if it does power down and back up again? Is there a specific serial to USB adapter that is known compatible?

18

@Jordan_Cormack

Did you manage to succeed with this? I have one on my desk and would love to get it working but the documentation seems to be missing…

19

I did manage to get it working https://discuss.cubepilot.org/t/here-4-as-flight-controller/12609/7?u=jordan_cormack but when I tried to go through the setup, there seems to be something off about the compass (isn’t correct, and won’t calibrate). I know the Here4 did have some compass issues, so I need to read up on that a bit more and do some more testing.

But everything else (serial, RC in, PWM out etc.) seems to work fine!

1 Like