While troubleshooting running multiple Here 3+ GPS units on one CAN line, we discovered that the FDcan solves unhealthy GPS messages. However, once FDcan was enabled on both GPS, the GPS units no longer appeared on the CAN page in Missionplanner, either through Mavcan or SLCdirect.
The GPS units work and continue to let the drone operate with no GPS errors, but we are unable to see/edit the GPS units over the can network, which means we cannot turn off the FDcan or change any node ID’s.
Is this a bug with FDcan and the software? Or is there a solution for this?
Further info to help document the issue:
The CAN_D1_UC_OPTION parameter appears to make no difference, whether CanfFD is set to on or off.
The GPS units appear as garbled messages using SLCAN direct (image shown below of parameters)
No solution has been found to interface with the GPS units once FDCan is turned on
The image included above was taken from the DroneCAN gui tool, that is what it looks like when it connects.
After working with Michael Oborne, I updated to a new beta version of Mission planner, and there was a small change that allowed me to connect to the FD enabled GPS units. I was then able to change the Here3+ GPS back to normal CAN.
