# Here 4 nearly crashed our LiDAR ship

**URL:** <https://discuss.cubepilot.org/t/here-4-nearly-crashed-our-lidar-ship/14086>\
**Category:** Here GPS\
**Created:** [10 September 2024 16:04 UTC](https://discuss.cubepilot.org/t/here-4-nearly-crashed-our-lidar-ship/14086 "2024-09-10T16:04:48Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![rokclimr](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/rokclimr/32/1008_2.png) [@rokclimr](https://discuss.cubepilot.org/u/rokclimr)\
**Post date:** [10 September 2024 16:04 UTC](https://discuss.cubepilot.org/t/here-4-nearly-crashed-our-lidar-ship/14086/1 "2024-09-10T16:04:48Z")

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We had a gps issue a few weeks ago with our custom LiDAR ship running dual Here 4 pucks. The problem is exactly as described in the thread below. The ship suddenly lost both Here 4 units and triggered an EKF failsafe, so it started landing. We were running missions at 200’ AGL, luckily the pilot caught it before it descended into the forest below. Our Here 4 software was 1.13.BF5E50…so they needed updated. I just updated both and the software version is now 1.14D42D3330. In the thread below, Siddharth Purohit references a fix with software version 1.14.FE92DFEF which is not what ours updated to.

Are we okay or are we somehow on the wrong version? And why are there not warnings everywhere about this problem??

> [@Here4 GPS Loss But Mag Healthy](https://discuss.cubepilot.org/t/here4-gps-loss-but-mag-healthy/13580):
>
> Hi guys, I have been flying a custom drone with 2 Here4 units on it for quite a few months now. Until recently, I have not had any issues with it. Today, I had scary experience with it when I was flying and there was a sudden GPS loss (seem like both GPS units at the same time). I am using ArduCopter firmware (4.4.4). What happened was that the EKF failsafe triggered and the drone went into land mode. I am looking at the logs and see that at the time of the failsafe, and right before, there …

Thank you,  
Brad

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**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:** [11 September 2024 19:18 UTC](https://discuss.cubepilot.org/t/here-4-nearly-crashed-our-lidar-ship/14086/2 "2024-09-11T19:18:29Z")

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![IMG_1481](https://discuss.cubepilot.org/uploads/default/original/2X/5/5765f91a8277ffe46d55de384ad2ced771e60fbb.jpeg)

Please read our safety bulletins.

This was not a hardware issue.

You MUST keep up to date with all flight code updates on your flight controller and Accessories.

This Ardupilot bug was fixed within 12 days of its discovery on June 15th

It was added to the safety bulletin after the fix was proven safe.