Here 4 Blue Issues

Here GPS
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We tested it on ArduCopter 4.5.6 and additionally 4.6.2. Even on a basic system which just has a Cube Orange and the Here4 Blue, we were able to recreate the problem.

One note is that we tried instead using a Here4 Black and a Cube ID CAN and we were not able to see the same issue. We suspect that this issue is specific to Here4 Blue.

It is intermittent in the sense that it only happens on some boots. And when it does happen, the Arm Status of “invalid location” never goes away until reboot.

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I have also come to this exact conclusion. Never have issues with a CubeID node. @sidbh

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@guyzoler @bendraper00 You both are on ArduPilot right? My suspicion is that it’s a bug in the here4 blue driver that runs on ArduPilot, but I am not completely sure.

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@jnomikos we are also on arducopter, i agree it might be latching downstream from the module the tricky part is where, i couldn’t find it in the arducopter code, if it were to be in the arducopter why is the here4 black not reproducing? the odid driver is the same for CAN module and here4 blue if i read it correctly.

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Yeah, on our end, we have someone who’s creating a workaround where it manually restarts the CAN node if this error is detected. Unsure if it’ll work, but we’ll see.

Just a note is that on our other setup we tested with, it was the Cube ID with Here4 Black (since here4 black doesn’t have it’s own RID module)

Thanks for the info, I wasn’t aware the driver was the same for all the modules. I wonder if there’s some race condition or something when the Here4 Blue module is being initialized that’s causing this.

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have you manually tried to reset the CAN node of the module and got it to recover without resetting the autopilot?

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Resetting the CAN node didn’t work.

@sidbh @JulianOes

We also tested on PX4 and were able to recreate the issue there. We think it’s entirely a Here4 issue, likely caused by a race condition during initialization and not an ArduPilot problem.

Also we tried this:

  1. Attempted to Plug in the HERE4 after the FCU starts up (Rule out Race Conditions)

  2. Change Parameter on the Device to prevent Auto Firmware Updates (Noticed a correlation when using DroneCAN GUI), did not solve issue

  3. Restarting the CAN node on Mission Planner or ArduPilot code does not solve the issue (Rules out a bad start)

  4. Tested Here4 Black with CubeID (Ruling out CAN Bus errors with GPS and RemoteID)