I’m also using single Here 4 GPS with Cube orange Plus module. Since the I have connected only one GPS module but in the Dev ID it is being shown 2 ID’s, the reference images are provided below. Hence while using the primary external device for compass it gets confused over the flights and end of in GPS Glitch and crashes. Can anyone let me know how to resolve this issues.
And also every time I update the firmware for GPS it remains on same. But official the firmware version has been in updated level in GitHub repository. Also I tried to update the firmware of the GPS also.
Also this GPS is being being purchase in recent batch in Jan 2026 through authorized reseller.
We “solved” the problem by setting all our gps to version 1.14.7.
We have not received any answer from the manufacturer or the seller to find a solution. Now we continue to fly on the old version and it works without any problems.
I normally only provide support on the ArduPilot support site (it keeps me busy enough) but in any case, the screen shot you show looks OK to me. I don’t have a Here4 immediately available to test but I think the Here4 has multiple compasses available using DroneCAN and they should all appear with the same “Address” but different “Sensor_ID” numbers.
ArduPilot can handle multiple compasses and as long as they don’t switch orders it should be fine. Remember to keep your arming checks = 1 in order to catch changes in order
We fly with two here 4 and have only 3 compasses in the compass menu. So if every here 4 has two compasses, I wonder where the fourth is. We don’t fly with this configuration and played over 30 gps on firmware 1.14.7
You need to load firmware from here 4 from github. There are all versions. Then you have to connect the GPS via dronecan and you can update it via mission planner. If you click on update you have to press no and then you can load a costum firmware instead of the newest.
Yes we purchased recently 20 Here 4 Units all the GPS has 02 Compass Dev ID built in. But there are few changes in the hardware, few units has 08 wires and few units has 6 wires only(Think it is latest version)
Please don’t spam everybody.
There is no issue here.
The Here4s behaviour is correct and the sensors listed are correct.
Go back to the correct 1.15 firmware.
This is from another working system with 2 Here 4s attached
