# HereFlow - Bad Lidar Health **URL:** \ **Category:** HereFlow\ **Created:** [24 November 2021 19:23 UTC](https://discuss.cubepilot.org/t/hereflow-bad-lidar-health/7913 "2021-11-24T19:23:43Z")\ **Posts on this page:** 14\ **Page:** 1
**Author:** ![jstroup1986](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/jstroup1986/32/4237_2.png) [@jstroup1986](https://discuss.cubepilot.org/u/jstroup1986)\ **Post date:** [24 November 2021 19:23 UTC](https://discuss.cubepilot.org/t/hereflow-bad-lidar-health/7913/1 "2021-11-24T19:23:43Z")
I’ve been trying to do the legwork on setting up my HereFlow before moving on to adding a more capable lidar sensor. The docs all advise against using the lidar on the HereFlow - but I’d like to establish that if it at least works within the 200cm range as advertised. Doing a hover test over a hard surface, ArduCopter reports “Bad Lidar Health” - as seen on the Yaapu MavLink messages: ![Bad Lidar Health Messages](https://discuss.cubepilot.org/uploads/default/original/2X/0/0864c26637697a6280df5fcbf5b2cfa391827e70.jpeg) Initially I thought this might have been caused by some restrictions from the 3-D printed case I was using - so I removed it from that case and mounted unrestricted to my copter per this photo: ![HereFlow mounting](https://discuss.cubepilot.org/uploads/default/original/2X/d/df0de6ccf37cf8ccbbc9508d3602462e2a8d964a.jpeg) The unrestricted mounting did not improve the Bad Lidar Health messages. Graphing the distance reported for the lidar using EKF5.mg it shows that distance data is being reported - as expected from my test flights. ![XKF5.mg](https://discuss.cubepilot.org/uploads/default/original/2X/4/4de74f2be103b41d38e900fb489853234e2c9007.png) The BIN file from this test flight is available here: [https://www.dropbox.com/s/33cjnpa87gpfj9w/2021-11-24%2013-49-14-HereFlow-Bad-Lidar.bin?dl=0](https://www.dropbox.com/s/33cjnpa87gpfj9w/2021-11-24%2013-49-14-HereFlow-Bad-Lidar.bin?dl=0) It would be nice to know if the Bad Lidar Health is a bug in ArduCopter 4.1.1, or if the HereFlow is really mal-functioning. I don’t have a second one to swap out to compare. Or maybe there is an error in my configuration. I’d appreciate any thoughts or comments. Thanks You! ---
**Author:** ![Alvin](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/alvin/32/1000_2.png) [@Alvin](https://discuss.cubepilot.org/u/Alvin)\ **Post date:** [26 November 2021 09:08 UTC](https://discuss.cubepilot.org/t/hereflow-bad-lidar-health/7913/2 "2021-11-26T09:08:19Z")
If you see the lidar distance changes corresponds to the movement, it show be fine. Can you see the sonarrange in `Mission Planner > status` changes when you raise or put down the Hereflow? ![image](https://discuss.cubepilot.org/uploads/default/original/2X/2/2f9ecb29be9a73d0512c67c09f035815ad7bf772.jpeg) ---
**Author:** ![jstroup1986](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/jstroup1986/32/4237_2.png) [@jstroup1986](https://discuss.cubepilot.org/u/jstroup1986)\ **Post date:** [29 November 2021 15:16 UTC](https://discuss.cubepilot.org/t/hereflow-bad-lidar-health/7913/3 "2021-11-29T15:16:56Z")
Yes, the Mission Planner’s Sonorrange on the Status tab reflected good information on the ground. But getting error messages in flight are a concern. My Lightware LW20/C generates no such messages. ---
**Author:** ![Satish\_Chaudhary](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/satish_chaudhary/32/4605_2.png) [@Satish\_Chaudhary](https://discuss.cubepilot.org/u/Satish_Chaudhary)\ **Post date:** [3 December 2021 10:13 UTC](https://discuss.cubepilot.org/t/hereflow-bad-lidar-health/7913/4 "2021-12-03T10:13:20Z")
Hey how did you setup the yaapu telemetry ---
**Author:** ![jstroup1986](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/jstroup1986/32/4237_2.png) [@jstroup1986](https://discuss.cubepilot.org/u/jstroup1986)\ **Post date:** [4 December 2021 15:07 UTC](https://discuss.cubepilot.org/t/hereflow-bad-lidar-health/7913/5 "2021-12-04T15:07:24Z")
I just followed the Yaapu docs. ---
**Author:** ![Satish\_Chaudhary](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/satish_chaudhary/32/4605_2.png) [@Satish\_Chaudhary](https://discuss.cubepilot.org/u/Satish_Chaudhary)\ **Post date:** [5 December 2021 06:23 UTC](https://discuss.cubepilot.org/t/hereflow-bad-lidar-health/7913/6 "2021-12-05T06:23:41Z")
So can you tell me how do i get the yaapu telemetry using Frsjy X8R and pixhawk cube orange and Jumper T16 pro ---
**Author:** ![jstroup1986](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/jstroup1986/32/4237_2.png) [@jstroup1986](https://discuss.cubepilot.org/u/jstroup1986)\ **Post date:** [5 December 2021 14:53 UTC](https://discuss.cubepilot.org/t/hereflow-bad-lidar-health/7913/7 "2021-12-05T14:53:13Z")
I can’t offer you detailed instructions - but you can find it in various documentation sources. In general - it works like this: You configure a serial port on your flight controller for FRSKY SMARTPORT PASSTHROUGH. It’s one the ArduPilot options. Then, you use a “converter cable” to connect the serial port (Telem 1 or telem 2) on the flight controller to the SmartPort connector on your receiver. Then you load the Yaapu software onto your transmitter - which only requires copying several directories you can download over to the SD Card on your transmitter. I’m sorry I can’t be more detailed or specific - but the process isn’t too difficult - but requires a bit of research. One benefit of that research is it will help you learn more about your equipment. Good luck! ---
**Author:** ![Alvin](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/alvin/32/1000_2.png) [@Alvin](https://discuss.cubepilot.org/u/Alvin)\ **Post date:** [6 December 2021 03:46 UTC](https://discuss.cubepilot.org/t/hereflow-bad-lidar-health/7913/8 "2021-12-06T03:46:26Z")
> [@jstroup1986](#): > > getting error messages in flight are a concern Can you try to reflash the firmware on Hereflow? ---
**Author:** ![jstroup1986](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/jstroup1986/32/4237_2.png) [@jstroup1986](https://discuss.cubepilot.org/u/jstroup1986)\ **Post date:** [10 December 2021 03:48 UTC](https://discuss.cubepilot.org/t/hereflow-bad-lidar-health/7913/9 "2021-12-10T03:48:40Z")
I could try. Instructions? ---
**Author:** ![Alvin](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/alvin/32/1000_2.png) [@Alvin](https://discuss.cubepilot.org/u/Alvin)\ **Post date:** [10 December 2021 10:07 UTC](https://discuss.cubepilot.org/t/hereflow-bad-lidar-health/7913/10 "2021-12-10T10:07:01Z")
You can connect it with SLCAN, like Here3 [https://docs.cubepilot.org/user-guides/here-3/here-3-manual#1.here3-firmware-update](https://docs.cubepilot.org/user-guides/here-3/here-3-manual#1.here3-firmware-update) The CAN process are same. ---
**Author:** ![jstroup1986](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/jstroup1986/32/4237_2.png) [@jstroup1986](https://discuss.cubepilot.org/u/jstroup1986)\ **Post date:** [10 December 2021 11:50 UTC](https://discuss.cubepilot.org/t/hereflow-bad-lidar-health/7913/11 "2021-12-10T11:50:20Z")
Fair enough. All I need now is the firmware. ---
**Author:** ![Alvin](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/alvin/32/1000_2.png) [@Alvin](https://discuss.cubepilot.org/u/Alvin)\ **Post date:** [13 December 2021 02:24 UTC](https://discuss.cubepilot.org/t/hereflow-bad-lidar-health/7913/12 "2021-12-13T02:24:43Z")
You should be able to get that from internet by the “Update” option ![image](https://discuss.cubepilot.org/uploads/default/original/2X/b/bba28824579a802bff8b5b90737417c80db7d86c.png) ![image](https://discuss.cubepilot.org/uploads/default/original/2X/b/b125fd58878a24787627abc2a1cc58c755622136.png) ---
**Author:** ![havran](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/havran/32/3031_2.png) [@havran](https://discuss.cubepilot.org/u/havran)\ **Post date:** [13 December 2021 19:25 UTC](https://discuss.cubepilot.org/t/hereflow-bad-lidar-health/7913/13 "2021-12-13T19:25:34Z")
is it possible to update the firmware using uavcan-gui-tool in non widows os? ---
**Author:** ![Alvin](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/alvin/32/1000_2.png) [@Alvin](https://discuss.cubepilot.org/u/Alvin)\ **Post date:** [14 December 2021 05:46 UTC](https://discuss.cubepilot.org/t/hereflow-bad-lidar-health/7913/14 "2021-12-14T05:46:47Z")
yes