Unable to use GPS and Rangefinder on CAN ports 1 and 2

ArduCopter Copter 4.3
1

We believe we’ve encountered a bug that occurs when trying to operate both a GPS and a rangefinder on the CAN ports of the flight controller.
Using the Pixhawk Cube Orange, we connected the here3 GPS into CAN port 1 and the US-D1 altimeter into CAN port 2. We configured the parameters as follows:
For the here3 GPS:
CAN_D1_PROTOCOL: 1 set virtual driver of CAN1 to DRONECAN
CAN_P1_DRIVER: 1 set this parameter to enable CAN 1 bus
GPS_TYPE: 9 set the communication protal type of GPS 1 to DRONECAN
NTF_LED_TYPES: 231 Set to DRONECAN for LED type

For the US-D1:

  • CAN_P2_DRIVER = 1 (second can port driver set to driver 1)
  • CAN_D2_PROTOCOL = 7 (USD1 protocol for driver 1)
  • RNGFND2_TYPE = 33 (USD1_CAN)
  • RNGFND2_MIN_CM = 50
  • RNGFND2_MAX_CM = 4500
  • RNGFND2_GNDCLEAR = 10

With these parameters selected, the here3 GPS works correctly, but the US-D1 does not provide any output.
If the devices are swapped, and the US-D1 is connected to CAN port 1 and the here3 GPS to CAN port 2, and the parameters are changed accordingly, the US-D1 will work correctly and the GPS will not work. Only the device connected to CAN port 1 seems to work correctly.

Is there a problem with our Copter parameter values, or is there another bug occurring?

2

also want to +1 to bring attention to this. We had similar issues a year or so back using here3 gps and the US-D1 on CAN

1 Like
3

Hi @Camron_Myers,

Thanks for the report. I see this is posted in the Copter-4.0 category. If you’re using 4.0 it would be good to upgrade to 4.3.x.

If you’re not then I’ll move this message to the 4.3 category.

4

Hello Randy,

We are operating on Copter 4.3.3. Please move the message to that category.

5

I think your problem is this:

CAN_P2_DRIVER = 1 (second can port driver set to driver 1)

You are trying to use driver 1 for both CAN ports. Try setting CAN_P2_DRIVER = 2.

3 Likes