# HERE2 CAN issue **URL:** \ **Category:** Here GPS\ **Created:** [17 June 2019 17:19 UTC](https://discuss.cubepilot.org/t/here2-can-issue/1116 "2019-06-17T17:19:52Z")\ **Posts on this page:** 16\ **Page:** 3
**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 July 2019 01:39 UTC](https://discuss.cubepilot.org/t/here2-can-issue/1116/41 "2019-07-27T01:39:09Z")
> [@Upgrade Here 2 firmware](https://discuss.cubepilot.org/t/upgrade-here-2-firmware/1426): > > For those trying to upgrade their here 2 firmware to enable Serial mode, we have discovered that the SLCAN feature in ardupilot is not currently working on 3.7 master. This is a known good firmware for getting SLCAN to work [http://firmware.ardupilot.org/Copter/2019-06/2019-06-18-16:06/CubeBlack/arducopter.apj](http://firmware.ardupilot.org/Copter/2019-06/2019-06-18-16:06/CubeBlack/arducopter.apj) Remember to follow the instructions at [https://docs.cubepilot.org/user-guides/here-2/here-2-instruction](https://docs.cubepilot.org/user-guides/here-2/here-2-instruction) ---
**Author:** ![mgrimes1907](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/m/3e96dc/32.png) [@mgrimes1907](https://discuss.cubepilot.org/u/mgrimes1907)\ **Post date:** [27 July 2019 03:42 UTC](https://discuss.cubepilot.org/t/here2-can-issue/1116/42 "2019-07-27T03:42:28Z")
It worked. You have to set all your CAN setting before going to SLCan screen. Successfully updated bootloader. Now lights are always green after boot and no SLCan connection. After a couple of tries, it connected and Here2 is updated! YIPPEE! 🛩 ---
**Author:** ![mgrimes1907](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/m/3e96dc/32.png) [@mgrimes1907](https://discuss.cubepilot.org/u/mgrimes1907)\ **Post date:** [27 July 2019 03:57 UTC](https://discuss.cubepilot.org/t/here2-can-issue/1116/43 "2019-07-27T03:57:06Z")
Thank you very much @philip ---
**Author:** ![mgrimes1907](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/m/3e96dc/32.png) [@mgrimes1907](https://discuss.cubepilot.org/u/mgrimes1907)\ **Post date:** [27 July 2019 13:27 UTC](https://discuss.cubepilot.org/t/here2-can-issue/1116/44 "2019-07-27T13:27:39Z")
I don’t know if this will matter running Serial / I2C mode, but still get this error on boot ![0-Dev%20Fail](https://discuss.cubepilot.org/uploads/default/original/1X/acc09f59046c44d9c1bede0093d14889ad9c252e.jpeg) Is this because there isn’t an airspeed sensor hooked up? ---
**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 July 2019 22:56 UTC](https://discuss.cubepilot.org/t/here2-can-issue/1116/45 "2019-07-27T22:56:18Z")
You have not set up your frame type, you have not calibrated anything. Do that, then see ---
**Author:** ![mgrimes1907](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/m/3e96dc/32.png) [@mgrimes1907](https://discuss.cubepilot.org/u/mgrimes1907)\ **Post date:** [28 July 2019 03:39 UTC](https://discuss.cubepilot.org/t/here2-can-issue/1116/46 "2019-07-28T03:39:01Z")
I have arduPlane 3.10.0-DEV. It still shows that error with everything set up and able to arm. ![I2CGPSerror1](https://discuss.cubepilot.org/uploads/default/original/1X/36bae328853c96050375289dd8ed628d96b57aeb.jpeg) ---
**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:** [28 July 2019 08:42 UTC](https://discuss.cubepilot.org/t/here2-can-issue/1116/47 "2019-07-28T08:42:51Z")
It’s not relevant at all, don’t worry ---
**Author:** ![mgrimes1907](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/m/3e96dc/32.png) [@mgrimes1907](https://discuss.cubepilot.org/u/mgrimes1907)\ **Post date:** [28 July 2019 12:18 UTC](https://discuss.cubepilot.org/t/here2-can-issue/1116/48 "2019-07-28T12:18:34Z")
Ok. Thanks for the help. ---
**Author:** ![canterobb](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/canterobb/32/746_2.png) [@canterobb](https://discuss.cubepilot.org/u/canterobb)\ **Post date:** [5 August 2019 00:28 UTC](https://discuss.cubepilot.org/t/here2-can-issue/1116/49 "2019-08-05T00:28:15Z")
Definitely I have not had good luck :(, I tried everything and my first gps here 2 but it has not worked, the second here2 that I bought if it worked without problems, but the second cube presented an SB2 warning. I can only try one rma for my first gps here 2 and my second cube ☹ ---
**Author:** ![omer](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/omer/32/1005_2.png) [@omer](https://discuss.cubepilot.org/u/omer)\ **Post date:** [18 September 2019 15:28 UTC](https://discuss.cubepilot.org/t/here2-can-issue/1116/50 "2019-09-18T15:28:48Z")
Hey Philip and Jonathan, @philip @jschall I have Here2 GPS with updated bootloader using the following instructions: [https://docs.cubepilot.org/user-guides/here-2/updating-here-2-firmware#step-10-flash-the-bootloader-updater](https://docs.cubepilot.org/user-guides/here-2/updating-here-2-firmware#step-10-flash-the-bootloader-updater) After updating the bootloader, leds turned stable green, I pushed ‘update’ again as came up from the instructions in order to update the firmware also - the leds stayed stable green and it seemed that nothing had happened, so I tried to disconnect from USB and reconnecting for another try - unfortunately, I could not connect using CANBUS anymore, the device does not appear in the list. I tried another Here2 GPS with same results (appeared before bootloader has updated and did not appear after). I tried another cube black with no change, another Arducopter firmware with no change - the devices with updated bootloader just does not appear anymore in CAN devices. I verified the proper CAN\_ parameters are set in the cube as mentioned in the instructions. I used Mission Planner 1.3.68 and Arducopter V3.7.0-dev firmware. I already try to get more information from this thread and another threads with no luck. Do you have any suggestions? Thanks, ---
**Author:** ![jschall](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/jschall/32/246_2.png) [@jschall](https://discuss.cubepilot.org/u/jschall)\ **Post date:** [18 September 2019 16:31 UTC](https://discuss.cubepilot.org/t/here2-can-issue/1116/51 "2019-09-18T16:31:06Z")
@omer If you unplug the GPS from CAN and plug it back in while the SLCAN adapter is connected, do you see anything appear for even a short period of time? ---
**Author:** ![omer](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/omer/32/1005_2.png) [@omer](https://discuss.cubepilot.org/u/omer)\ **Post date:** [19 September 2019 08:25 UTC](https://discuss.cubepilot.org/t/here2-can-issue/1116/52 "2019-09-19T08:25:25Z")
@jschall, I tried to unplug and plug back while in ‘SLCan Mode CAN1’ in MP, the device has appeared again and I could update the firmware as well. By the way, after updating the firmware the after boot leds are blinking yellow. Thank you Jonathan! ---
**Author:** ![Doug\_Henderson](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/doug_henderson/32/1991_2.png) [@Doug\_Henderson](https://discuss.cubepilot.org/u/Doug_Henderson)\ **Post date:** [29 March 2020 02:12 UTC](https://discuss.cubepilot.org/t/here2-can-issue/1116/53 "2020-03-29T02:12:30Z")
Well, looks like Copter pilots got a fix but what about Arduplane? Do I just have to flash my cube as copter to get the passthrough to work, then back to plane afterwards? ---
**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:** [2 April 2020 21:04 UTC](https://discuss.cubepilot.org/t/here2-can-issue/1116/54 "2020-04-02T21:04:01Z")
Arduplane and copter are both up to date on CAN ---
**Author:** ![Doug\_Henderson](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/doug_henderson/32/1991_2.png) [@Doug\_Henderson](https://discuss.cubepilot.org/u/Doug_Henderson)\ **Post date:** [3 April 2020 15:15 UTC](https://discuss.cubepilot.org/t/here2-can-issue/1116/55 "2020-04-03T15:15:04Z")
That doesn’t seem to be the case. LAG Arduplane still wouldn’t let me do the SLCAN, but once I flashed my cube with the patched ArduCopter referenced in this thread, SLCAN worked like a charm. So, I just had to do a little extra work, but still ArduPlane won’t let me do the SLCAN. ---
**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:** [5 April 2020 14:01 UTC](https://discuss.cubepilot.org/t/here2-can-issue/1116/56 "2020-04-05T14:01:58Z")
What firmware for plane are you using? And how are you loading it? [Previous page](https://discuss.cubepilot.org/t/here2-can-issue/1116.md?page=2)