# 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:** 2
**Author:** ![rbachtell](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/rbachtell/32/23_2.png) [@rbachtell](https://discuss.cubepilot.org/u/rbachtell)\ **Post date:** [18 April 2019 15:12 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/21 "2019-04-18T15:12:33Z")
I have tried all combinations multiple times with no results. Have tried with standard protocol at least a dozen times if not more. I have about four hours in this at this point and am no expert but certainly not a stranger to UAVCAN as I have been using can devices for several years and gone through many changes. Thanks for your help, Cheers, RB ---
**Author:** ![rbachtell](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/rbachtell/32/23_2.png) [@rbachtell](https://discuss.cubepilot.org/u/rbachtell)\ **Post date:** [18 April 2019 15:25 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/22 "2019-04-18T15:25:33Z")
Update on this. The Here only connects with Babel/UAVCAN GUI it will not fetch configuration data ---
**Author:** ![jasclarke308](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/j/90db22/32.png) [@jasclarke308](https://discuss.cubepilot.org/u/jasclarke308)\ **Post date:** [18 April 2019 17:04 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/23 "2019-04-18T17:04:15Z")
Has anyone had success with the external barometer? I have the GPS and compass working as expected but can’t seem to pick up the external barometer. If I use a Zubax GNSS 2 the barometer is detected and becomes the primary baro (BARO1). Also minor point but it doesn’t seem to be reporting HDOP. (Running Pixhawk 2.1, Mission Planner 1.3.64, Arducopter 3.7.0). Cheers Jason ---
**Author:** ![hdtechk](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/hdtechk/32/14_2.png) [@hdtechk](https://discuss.cubepilot.org/u/hdtechk)\ **Post date:** [18 April 2019 19:33 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/24 "2019-04-18T19:33:17Z")
The only thing I did differently was I didn’t like that it loaded generic fmuv3 version of firmware. So I downloaded firmware from from ardupilot firmware page in cube folder and installed it before I tried. Mine took a few tries but it did work ---
**Author:** ![rbachtell](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/rbachtell/32/23_2.png) [@rbachtell](https://discuss.cubepilot.org/u/rbachtell)\ **Post date:** [18 April 2019 20:46 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/25 "2019-04-18T20:46:52Z")
Update2. Finally had success by wiping the firmware on the cube and starting from scratch with latest master. I connected mission planner and set the can parameters then opened the slcan dialog and it connected first shot. Loaded the here firmware, rebooted and all worked as expected except that as jasclarke308 reported HDOP is not reported in telemetry stream Cheers, RB ---
**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:** [19 April 2019 03:26 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/26 "2019-04-19T03:26:52Z")
Awesome! did you save a parameter set from when it was not working? so you could compare to see what was blocking it? ---
**Author:** ![lilnpuma](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/lilnpuma/32/309_2.png) [@lilnpuma](https://discuss.cubepilot.org/u/lilnpuma)\ **Post date:** [19 April 2019 05:10 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/27 "2019-04-19T05:10:21Z")
Steps to get it to work (same as @rbachtell) Loaded firmware by downloading it from ardupilot site (copter/latest) > **[ArduPilot firmware : /Copter/latest/CubeBlack](https://firmware.ardupilot.org/Copter/latest/CubeBlack/)** Changed the following parameters: > [@philip](#): > > CAN\_D1\_PROTOCOL：1 > CAN\_D2\_PROTOCOL：1 > CAN\_P1\_DRIVER：1 > CAN\_P2\_DRIVER：1 > GPS\_TYPE：9 > NTF\_LED\_TYPES：231 Reboot and then followed update steps as posted by @Michael_Oborne > [@Here 2 can update](https://discuss.cubepilot.org/t/here-2-can-update/471/13): > > An Update for these instructions - this is for updating the firmware part only Make sure you have Mission Planner 1.3.64, and the Here2 plugged into port labeled CAN2 Connect in Mission Planner as normal via USB to the cube Goto Intital Setup Optional Hardware UAVCAN Click SLCAN Mode CAN1 (this is labeled as Can2 on the carrier board) a device should appear in the list, click update Mission Planner will download and install the latest CAN firmware for you. [image] once updat… ---
**Author:** ![rbachtell](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/rbachtell/32/23_2.png) [@rbachtell](https://discuss.cubepilot.org/u/rbachtell)\ **Post date:** [19 April 2019 15:02 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/28 "2019-04-19T15:02:40Z")
Unfortunately I didn’t think ahead and save the file. I really didn’t think the clean install would make a difference. I have another vehicle with similar setup so I will see if I can spot something. ---
**Author:** ![lilnpuma](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/lilnpuma/32/309_2.png) [@lilnpuma](https://discuss.cubepilot.org/u/lilnpuma)\ **Post date:** [19 April 2019 19:04 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/29 "2019-04-19T19:04:28Z")
I compared the param files and found something interesting. FRAME\_CLASS is set to 0 by default. When I change that, it works. I’ve changed it back to zero and replicated the issue. So assigning frame a frame type in initial setup before going to UAVCAN tab should solve the issue. ---
**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 April 2019 01:32 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/30 "2019-04-20T01:32:34Z")
Awesome! Thanks for following up on this ---
**Author:** ![zen](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/zen/32/295_2.png) [@zen](https://discuss.cubepilot.org/u/zen)\ **Post date:** [24 April 2019 07:44 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/31 "2019-04-24T07:44:04Z")
after having flashed rover and then back to copter 3.7 dev again I can now connect Here2 with SLCan. There I can see firmware 1.0.2909925001. When I click on “update” I get the message that no new firmware is available. But I saw the version number 1.1.xxx in a screenshot above. MissionPlanner tries to access [firmware.cubepilot.org](http://firmware.cubepilot.org), this subdomain is immediately redirected to [discuss.cubepilot.org](http://discuss.cubepilot.org), so no downloads are available there. if I click on parameters I only get an empty window with a empty table (without any parameters) refresh doesn’t help either. ---
**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:** [24 April 2019 11:51 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/32 "2019-04-24T11:51:39Z")
[Firmware.cubepilot.org](http://Firmware.cubepilot.org) is not acceccible as such from a web browser at this point, that’s why it redirects. It is acting as a firmware repository. ---
**Author:** ![zen](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/zen/32/295_2.png) [@zen](https://discuss.cubepilot.org/u/zen)\ **Post date:** [24 April 2019 16:26 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/33 "2019-04-24T16:26:54Z")
Yeah, I know that. According to the screenshots of Michael Oborne there is a newer firmware than the one on my Here2 1.0.2xxx. But MissionPlanner has no access to [http://firmware.cubepilot.org/UAVCAN/com.hex.here/2.0/firmware.bin](http://firmware.cubepilot.org/UAVCAN/com.hex.here/2.0/firmware.bin) (source port 81, destination port 50268 = 404 Error) “No Update available” is there the file firmware.bin as download or how else can I update the Here2? Currently “MAINTENANCE” is displayed at Mode. ---
**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:** [24 April 2019 23:40 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/34 "2019-04-24T23:40:31Z")
@jschall @sidbh @Michael_Oborne ---
**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:** [25 April 2019 13:19 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/35 "2019-04-25T13:19:05Z")
please try MP again. my guess is temporary internet issue ---
**Author:** ![zen](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/zen/32/295_2.png) [@zen](https://discuss.cubepilot.org/u/zen)\ **Post date:** [25 April 2019 18:35 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/36 "2019-04-25T18:35:54Z")
Sorry I made so much noise about that. It has something to do with my Windows firewall. With MacOS I could download the firmware.bin file with Firefox… thank you very much for your hints ---
**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:** [26 April 2019 03:22 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/37 "2019-04-26T03:22:55Z")
Glad it’s working! ---
**Author:** ![turnere](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/t/7ba0ec/32.png) [@turnere](https://discuss.cubepilot.org/u/turnere)\ **Post date:** [27 April 2019 15:02 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/38 "2019-04-27T15:02:47Z")
I read the arm button doesn’t work when switched to CAN, could the switch functionality be added in future? Or is this a limitation of the CAN implementation? Also, how would you recommend to connect another CAN device on the same CAN bus as the Here 2 - e.g. HereFlow device. ---
**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:** [27 April 2019 17:24 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/39 "2019-04-27T17:24:05Z")
The Hardware is there, the code isn’t. There are no limitations stopping this, however, please really think about how you use the safety button. Putting your hand next to a vehicle that is doing something unpredictable, is not my idea of safe. ---
**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:** [27 April 2019 17:24 UTC](https://discuss.cubepilot.org/t/here-2-can-update/471/40 "2019-04-27T17:24:34Z")
To connect multiple devices, use the supplied splitter [Previous page](https://discuss.cubepilot.org/t/here-2-can-update/471.md?page=1) [Next page](https://discuss.cubepilot.org/t/here-2-can-update/471.md?page=3)