Here 3 UAVCAN PX4

Here GPS
1

I’m trying to setup a here 3 to run on a Cube Orange+ with PX4

I’ve follow the instructions for PX4 here: https://docs.cubepilot.org/user-guides/here-3/here-3-manual#id-2.-using-px4-firmware. My setup is as follows:

FMU CAN1 - Motors are daisy chained and plugged in here
FMU CAN 2 - Here 3 plugged in here

UAVCAN Params:
-UAVCAN_Enable sensors and actuators (for the gps and motors)
-​UAVCAN_SUB_GPS enabled
-UAVCAN_SUB_GPS_R enabled

UAVCAN Status:
-I can see the motors are operational
-Docs say that the GPS should automatically get id of 2, don’t see 2 as operational in the status

​Pool allocator status:
Capacity hard/soft: 500/250 blocks
Reserved: 123 blocks
Allocated: 51 blocks

UAVCAN node status:
Internal failures: 0
Transfer errors: 0
RX transfers: 30274
TX transfers: 505984

CAN1 status:
HW errors: 62
IO errors: 62
RX frames: 38437
TX frames: 524747
CAN2 status:
HW errors: 510406
IO errors: 538897
RX frames: 0
TX frames: 496235

ESC outputs:
INFO [mixer_module] Param prefix: UAVCAN_EC
control latency: 753783 events, 197557455us elapsed, 262.09us avg, min 181us max 2478us 133.396us rms
Channel Configuration:
Channel 0: func: 101, value: 65535, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 1: func: 102, value: 65535, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 2: func: 103, value: 65535, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 3: func: 104, value: 65535, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 4: func: 0, value: 65535, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 5: func: 0, value: 65535, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 6: func: 0, value: 65535, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 7: func: 0, value: 65535, failsafe: 65535, disarmed: 65535, min: 1, max: 8191

Sensor ‘gnss’:
name: uavcan_gnss

Sensor ‘gnss_relative’:
name: uavcan_gnss_relative

Sensor ‘mag’:
name: uavcan_mag

Online nodes (Node ID, Health, Mode):
101 OK OPERAT
102 OK OPERAT
103 OK OPERAT
104 OK OPERAT

UAVCAN Param list 2
-Fails to grab param list for id 2​

The docs are quite straightforward and I believe follow them, but the GPS doesn’t work and the LEDs, after flashing during boot up, are off.

What am I missing?

2

As discussed in private messages, you have the bit rate set incorrectly on the CAN bus

3

If you absolutely need to use the bitrate 500000 instead of 1000000, you will have to adjust it on the Here3 side as well by setting DroneCAN parameters.

This can be done using the DroneCAN GUI tool.

4

Copy that - makes sense. I have it at 500000 since that’s what my motors are using. I will adjust the motors to use 1000000 instead and see if that clears things up.