# Here 2 can update **URL:** \ **Category:** Here GPS\ **Created:** [17 April 2019 00:43 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471 "2019-04-17T00:43:13Z")\ **Posts on this page:** 20\ **Page:** 10
**Author:** ![ThePara](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/t/ccd318/32.png) [@ThePara](https://discuss.cubepilot.org/u/ThePara)\ **Post date:** [16 December 2019 21:10 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/183 "2019-12-16T21:10:30Z")
I took the Orange and GPS home and it updated instantly. Probably some issue with office firewall. ---
**Author:** ![philip](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/philip/32/9035_2.png) [@philip](https://discuss.cubepilot.org/u/philip)\ **Post date:** [17 December 2019 00:29 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/184 "2019-12-17T00:29:54Z")
Update via internet is the standard method… ---
**Author:** ![philip](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/philip/32/9035_2.png) [@philip](https://discuss.cubepilot.org/u/philip)\ **Post date:** [17 December 2019 00:30 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/185 "2019-12-17T00:30:25Z")
Strange! Corporate firewalls can be a PITA… ---
**Author:** ![TeseractLabs](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/teseractlabs/32/1271_2.png) [@TeseractLabs](https://discuss.cubepilot.org/u/TeseractLabs)\ **Post date:** [17 December 2019 00:50 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/186 "2019-12-17T00:50:46Z")
Ahhh thought he was talking about the CAN firmware, my mistake ---
**Author:** ![philip](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/philip/32/9035_2.png) [@philip](https://discuss.cubepilot.org/u/philip)\ **Post date:** [30 December 2019 00:45 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/187 "2019-12-30T00:45:37Z")
That works fine 🙂 Get on 4.0 and latest mission planner ---
**Author:** ![yak-54](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/yak-54/32/2271_2.png) [@yak-54](https://discuss.cubepilot.org/u/yak-54)\ **Post date:** [31 December 2019 12:40 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/188 "2019-12-31T12:40:05Z")
is there any chance theirs firmware that just enables GPS and the led’s ? ---
**Author:** ![philip](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/philip/32/9035_2.png) [@philip](https://discuss.cubepilot.org/u/philip)\ **Post date:** [31 December 2019 13:14 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/189 "2019-12-31T13:14:20Z")
What do you mean? ---
**Author:** ![Paradise33](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/p/47e85d/32.png) [@Paradise33](https://discuss.cubepilot.org/u/Paradise33)\ **Post date:** [23 January 2020 04:45 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/190 "2020-01-23T04:45:59Z")
This is the piece of information I needed. Changed Serial3\_BAUD from 38 to 115 and all is great in the world again. ---
**Author:** ![DopplerUav](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/d/ccd318/32.png) [@DopplerUav](https://discuss.cubepilot.org/u/DopplerUav)\ **Post date:** [28 January 2020 23:27 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/191 "2020-01-28T23:27:29Z")
Hi. I tried to update to CAN mode with no succes for all day. Tried different copter firmware versions and different MP versions following the instructions. After changing the parameters, when I go to UAVCAN and click SLCAN Mode CAN 1 nothing happens. The leds on the GPS were always blinking blue, never turn green or another color. If I switch to I2C mode everithing works OK and I have 3D Fix. What are the disadvantages of using I2C Mode? Do someone have the right combination of firmware/MP version to make it work? Thanks ---
**Author:** ![Mallikarjun\_SE](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/mallikarjun_se/32/7496_2.png) [@Mallikarjun\_SE](https://discuss.cubepilot.org/u/Mallikarjun_SE)\ **Post date:** [29 January 2020 02:44 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/192 "2020-01-29T02:44:05Z")
+1 to what @DopplerUav is mentioning. The UAVCAN GUI running at back-end of mission planner has become a lot more buggy lately(latest beta) I was unable to connect to here2 yesterday. Tried it on other windows device running old beta and it works. Maybe @Michael_Oborne can help with this regard. ---
**Author:** ![DopplerUav](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/d/ccd318/32.png) [@DopplerUav](https://discuss.cubepilot.org/u/DopplerUav)\ **Post date:** [29 January 2020 13:19 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/193 "2020-01-29T13:19:39Z")
SOLVED. I was able to update to CAN and Here2 is working now with 3D Fix This worked for me: -Mission Planner: Version 1.3.68 -Firmware: [Final.zip](https://discuss.cubepilot.org/uploads/short-url/vhoWGKWCxZ5irGk0Iub9eE3Nyxr.zip) (925.7 KB) ---
**Author:** ![Michael\_Oborne](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/michael_oborne/32/13_2.png) [@Michael\_Oborne](https://discuss.cubepilot.org/u/Michael_Oborne)\ **Post date:** [29 January 2020 22:38 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/194 "2020-01-29T22:38:58Z")
i need more information on how you where connecting. ---
**Author:** ![R2D2](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/r2d2/32/1857_2.png) [@R2D2](https://discuss.cubepilot.org/u/R2D2)\ **Post date:** [11 February 2020 00:46 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/195 "2020-02-11T00:46:01Z")
@TunaLobster - I had a similar issue after rebooting the cube and GPS between updating the bootloader and updating the firmware. I was able to get the Here2 to show up again in UAVCAN by booting the cube without the GPS plugged in, starting the SLCAN and then plugging in the GPS. ---
**Author:** ![Walter\_Lappert](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/walter_lappert/32/1874_2.png) [@Walter\_Lappert](https://discuss.cubepilot.org/u/Walter_Lappert)\ **Post date:** [20 May 2020 02:05 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/196 "2020-05-20T02:05:43Z")
I just setup a new build with Here2 via CAN. I am also running Hereflow on CAN, and separate Lidar range finder connected via serial. Blue Cube 4.0.4 I had similar build parameters to start off of, and manually tuned the bird. It held a solid althold and loiter, so I landed and planned a mission for an AUTO test. Take off was fine, then it gave the EKF2 IMU1/0 ground mag anomaly, as well as EKF2 IMU1/0 inflight yaw alignment complete. It toilet bowled and started to go obviously off course so I took over and landed. All wires look good, and are separated from any interference. Any advice? I do not want to move the GPS back to serial .[2020-05-19 20-15-37 AUTO Test EKF inflight yaw realign BIN.bin](https://discuss.cubepilot.org/uploads/short-url/oolvzZ0Xk3eAn7tDdPtQlTbkrwA.bin) (1.1 MB) ---
**Author:** ![Michael\_Oborne](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/michael_oborne/32/13_2.png) [@Michael\_Oborne](https://discuss.cubepilot.org/u/Michael_Oborne)\ **Post date:** [20 May 2020 10:04 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/197 "2020-05-20T10:04:32Z")
you need to move your gps/mag further away from your other electronics ![image](https://discuss.cubepilot.org/uploads/default/original/2X/8/8c8145aa5e2c1c3043b7035214fbdf05eaaf32a4.png) thats red line should be flat… ish. ---
**Author:** ![philip](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/philip/32/9035_2.png) [@philip](https://discuss.cubepilot.org/u/philip)\ **Post date:** [20 May 2020 12:07 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/198 "2020-05-20T12:07:09Z")
I have a feeling that his CAN mag is last not first? ---
**Author:** ![Walter\_Lappert](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/walter_lappert/32/1874_2.png) [@Walter\_Lappert](https://discuss.cubepilot.org/u/Walter_Lappert)\ **Post date:** [20 May 2020 12:24 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/199 "2020-05-20T12:24:07Z")
![Compass Calibration CAN GPS](https://discuss.cubepilot.org/uploads/default/original/2X/4/4038cc064d86962024b68f06e7f57e0482de27b7.jpeg) ---
**Author:** ![Mallikarjun\_SE](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/mallikarjun_se/32/7496_2.png) [@Mallikarjun\_SE](https://discuss.cubepilot.org/u/Mallikarjun_SE)\ **Post date:** [20 May 2020 20:40 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/200 "2020-05-20T20:40:36Z")
Hey! Share a screenshot of HW ID tab on Mission planner. Check the external compass on this tab and disable the internal ones. ---
**Author:** ![Walter\_Lappert](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/walter_lappert/32/1874_2.png) [@Walter\_Lappert](https://discuss.cubepilot.org/u/Walter_Lappert)\ **Post date:** [5 June 2020 23:37 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/201 "2020-06-05T23:37:46Z")
Thank you both @philip @Mallikarjun_SE Compasses were out of order. ---
**Author:** ![Hampus\_Berggren](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/h/f475e1/32.png) [@Hampus\_Berggren](https://discuss.cubepilot.org/u/Hampus_Berggren)\ **Post date:** [31 August 2020 18:26 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/202 "2020-08-31T18:26:30Z")
I did a second attempt the get CAN working today. A year ago, I did see the CAN ID a few seconds until I did press update. LED’s is green since then. Blue pulse on start up. I was not able to connect CAN again. Today, I did install: [https://firmware.ardupilot.org/Tools/MissionPlanner/archive/MissionPlanner-1.3.63.msi](https://firmware.ardupilot.org/Tools/MissionPlanner/archive/MissionPlanner-1.3.63.msi) (The first post link is dead). I can’t change to the older firmware copter3.7 due to the load firmware buttons disappear when it is disconnected. So I can’t select the file. I can update to newest sub, rover and copter, without any issues. But no CAN gps is found there, so I am trying to go back to first step. ![Disconnecting](https://discuss.cubepilot.org/uploads/default/original/2X/1/1011a5146922d8d19b958b9185fb0fec53c50733.png) ![Disconnected](https://discuss.cubepilot.org/uploads/default/original/2X/8/8f71c25a068ac080adc32d21e850f9bc882cc35f.png) I restarted the computer and then did get an error when I was heading for the “Install firmware tab”: ![error](https://discuss.cubepilot.org/uploads/default/original/2X/4/432c1581dfab522d5bd76d75baf68f7fb1f443b3.png) Edit: A go around seems to be update with latest mission planner, then downgrade mission planner. But I can’t find the 3.7.0 anymore, is it removed? Is there an updated way to get the CAN work? 3.6.9 to old? May I can find the 3.7.0 file that I should have somewhere. [Previous page](https://discuss.cubepilot.org/t/here-2-can-update/471.md?page=9) [Next page](https://discuss.cubepilot.org/t/here-2-can-update/471.md?page=11)