Multiple HereFlow


I have 2 HereFlow, so I want to use one for the font and another pointing down.

The Can BUS supposes to alow to connect multiple sensors, but I cant make the second HF work.

I have change the orientation on the rngfnd2, use the Can2 port, try with the external carrier to use just the CAN1 port, etc, and nothing.

May be I have to change the address ID fromt he HF? If that so, how can I do it?

What Im missing?


You are missing the new code that is being worked on at the moment in master.

Keep an eye on the DNA work, and the device ID tables

This will allow ardupilot to figure out which device is which better



So, what is DNA ?:sweat_smile:

Dynamic Node Allocation

ok. So if I uderstand well, the code is not ready to do this right? I have the last master FW for my cube.



@philip is it possible to run hereflow and Here V2 GPS in CAN mode and on the same bus? Might be a stupid question as I can’t find any info on this subject.


@philip awesome! Now that Here is working on the Solo in CAN mode I want to step it up a little. Will it use info from both devises or just the better of the two?

Best read up on ekf3 and flow gps blending

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Hi Phillip ,

Any update regarding the DNA and using multiple Hereflows ?

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waiting for that also, want to install 5 hereflow on my drone,
any news with the code?

Will you use one on each axis except looking up? Is that the idea? Very cool.

one down, 4 on each side, avoiding other drone collosions

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you already did that? let us know how did it worked!

i waiting to get two new quad drone, for testing the system :slight_smile:
i will upload a video and pictures once i getting it to work

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trying to install the here flow, with no success.
I have also a germin lidar v3, which works perfectly, but not success with here flow.
I think I missing something here, but I don’t know where the problem is.
I also trying to work with them both, but how I can use both of them?


Is this still a work in progress? I am currently using a Hereflow looking downward and I want to implement another one looking upward. I have a pixracer with only one port CAN but in theory it should still be possible to connect them in parallel, right? Any guide would be appreciated