PreArm: GPS1 not healthy / Compass not healthy

Here GPS
1

Hello, I have an M1200 quadcopter with Here4 and Cube Orange Plus. Flight perfromance is stable and I have done a number of flights with it. Recently, I have started to get a PreArm GPS1 not healthy and Compass not healthy message everytime I reboot the sys. SatCount shows 28 satellite connected and GPS indicates 3dgps fixed but EKF is red and I get constant Pre Arm prompts of GPS not healthy and Compass not healthy as can be seen in images. What can be the issue and how can it be resolved?

Flight log

GPS not healhty - 1

GPS not healhty
GPS not healhty1306Ă—967 168 KB

@philip @sidbh your valuable input will be highly appreciated.

Thank you.

2

@sidbh , @philip … Your help is reqd… We are facing the same issue in 2-3 here 4 as well…
Regards

3

@Alvin , @Michael_Oborne, can u suggest how to proceed… satellites are there but due to error messages, uav cud not arm… the message persists in 3-4 sys now…

4

Which version of firmware is your copter using?
Do you update the firmware before having the issue?
Compass not healthy: Try Accelerometer Calibration then check if it still exists.
GPS not healthy: Low baudrate might cause GPS not healthy, try make it higher.
If everything is alright, try change it to a lower version and see if the issue still exist.

5

Hi @Yasir_khizar

I had this issue too, with several units. I believe that CubePilot’s team will contact you here shortly.

6

@Mauro.Tanure , @philip How was this solved? Is there any config settings that u can suggest us? Any firmware, etc
Regards

7

Firmware version for cube is arducopter 4.4.4 and for here 4 it is the latest one. I upgraded it before installation on the airframe

8

Unfortunately, not solved by any FW or configuration. Compass hardware had issues, and the GPS not healthy was just a consequence of it.

9

Thanks for the response.
Actually, we upgraded the hardware of our copter sys by changing the GNSS, replacing here 3 to here 4. The idea behind replacement of here 3 to here 4 was to have better performance with industrial grade compass and dual band antennas. As prev explained that our copter flew quite a few times with here 4 and we had successful flights. The problem which we are mentioning to appeared suddenly (at random) just when we were about to fly and trying to arm the uav sys. We tried multiple iterations by changing the parameters and configuration but with no success. Then our client reported the same issue that is being repeated in 3 x sys. How is this possible that hardware issue appears in many sys while we had multiple flights with the same sys??? If this happens at random, then is it possible that problem might appear in the middle of flight?
Unfortunately, despite of tagging the Cubepilot team no of times, none of the member has yet contacted or replied to us. Hope @philip @Alvin go thru this blog and suggest the soln…
Regards

10

Cobra has responded, he is also Cubepilot staff.

There will be a notice on this matter shortly

11

@Cybra Hi, I am facing the same issue. FW of arducopter is 4.4.4 and Here4 Fw is 1.14.5AC6523C and HW version is 4.19. Compass is not detected on either of the two comm ports. When i connect Here3. It works fine. Your guidance is requested in this matter.

12

Compass not detected on either two COM ports? How are you connecting those here4s? Have you tried to update the firmware on the here4?

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13

We are connecting here4 via CAN port, tried both CAN1 and CAN2. GPS connects and satellites data available, however campus is not detected and no data available.

Also updated here4 using MissionPlanner, but results remains the same. @Cybra

After posting here I read other related threads, and checked here4 data on CAN inspector, megnatic field data was not available for fault modules

14

Might be the same issue as this thread SB_0000008 Here4 magnetometer (Flight status Restored)
Can you send me the parameters and the UAV/CAN inspector on the Here4 that has compass issues? Try to set FORMAT_VERSION to 0 and reboot then see if the compass is back after saving the params and checking the inspector

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