How can I connect multiple hereflows in 1 CAN port?


I’m building my own drone with a fork version of Ardupilot 4.1.5, I’m using a mRo PixRacer R15 as flight controller and I am currently using a Hereflow facing downward in the only CAN port of the pixracer. I intend to add another Hereflow facing upward to have a backup measure, but I am not sure how to do it.

I know there is a topic like this from years ago where they say it was a work in progress but never gave the details if it was finished.

Basically what I want to know is:

  1. If I use a splitter like this, can I just connect both Hereflow sensors?
  2. If not, what is the proper way to do it?
  3. Has anyone seen a project using multiple Hereflows? I do not seem to find anything out there.

Any help would be appreciated,


The main issue is the support for multiple flow sensors is not supported in Ardupilot firmware. I will try to find time to add support for this.

Oh I see, thanks for the quick response.

Actually I am using a fork version, trying to develop my own controller for my own scenario. So I just need the value of the measures, even if this support is still not yet developped, can I somehow get the measure from the port? maybe by ID or something ? Is it possible ?

Unfortunately it’s not that straight forward. The driver needs changes to add support for multiple sensors and also ordering as the position parameters need to be tied to each sensor. If you are interested in developing, you need to look at AP_Compass, AP_GPS or AP_InertialSensor as an example.

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I looked at the files you mentioned but I think it is out of my capacities. If you guys ever find the time to add the support for multiple Hereflows it would be great