Once the Update is done, set parameter on Here4 FLASH_BOOTLOADER to 1 wait for either Bootloader Flash OK or Bootloader Unchanged message
An updated bootloader boots with Blue Breathing at boot. It will breathe purple if CAN1 on here4(blue/white cable) is not connected or Cube is still booting, so to check best to unplug and plug Here4 without power cycling the Cube itself.
Use the Blue/white Can cable on the here 4 to CAN 1 or 2 on the Cube carrier board
For units already showing solid White LED (NOT breathing)
If you have appropriate SWD connector (6pin JST SUR) to Here4 available, and are capable of doing a bootloader update. Follow the following steps:
Important: For users that are not capable of opening Here4 unit and updating using JST SUR and Debug probe to fix solid white LED, please contact your Reseller for further support. For units that are still healthy make sure to follow primary bootloader update method.
Hello @philip
Thank You for sharing the solution,
Can you give us more clear steps on how to do the bootloader update and also the Pin connection of SWD connector.
The SWD update is for advanced users only. Unless you are already familiar with the process, I would recommend getting assistance from your reseller on this.
This connector is the standard connector for all our products
I updated the a new here4 GPS from 1.14.2DE07E to 1.15.254AAE09 and after two flights, sometime the GPS is getting stuck at white light and sometime it breathing pink,
I’m having trouble choosing the correct GPS firmware. When I connect through the DroneCAN GUI, the parameter COMPASS_DEV_ID shows no value. Without this, I can’t determine which .bin file to use. Does this mean my compass is completely dead?
You need the normal one.. RM3100 unless you specifically do not wish to use the RM3100 then use the AK firmware.. both mags are fitted to new units while old units only had RM3100
Hello @philip,
Again some issue occurred with here4 GPS, this time the compass is not detecting.
the problem occurred in SW 1.15.254AAED9 then I updated to 1.15.5EC5375E, but still the compass is not detecting.
How can I determine which hardware version I have and whether I can use AK software? Is this version resistant to the known RM3100 damage issue? Is there anywhere I can find more information on this topic?
If you have purple breathing LEDs there’s a good chance the Here4 updated (or not) and the incorrect CAN interface is in use. Check through my process below and you may be in luck.
Solid white LEDs are unrecoverable without the correct cable
All of the Here4’s I’ve seen so far, the CAN1 connector is the one with wires green, white, blue, grey, and should be used for performing the update
After the update the CAN2 port (red, orange, brown, black) will NOT work.
If the update was attempted via the real CAN2 port then you wont be able to reconnect to the Here4 and you may incorrectly assume it’s now bricked even though LEDs are breathing purple.
I suspect the update does not complete correctly either.
The procedure I’ve been using is:
check the CAN connector and swap to the real CAN1 if necessary
follow official instructions to use the SLCAN interface to do the update to 1.15
wait some time for the Here4 to reconnect, or it may even go to breathing purple LEDs
reconnect to the Here4 via SLCAN and set the bootloader update parameter - may require a reboot of the FC or Here4 or both to access the Here4
wait a few seconds (I’m unsure if the bootloader updates immediately or after reboot)
power cycle the FC and Here4 together
in SLCAN check the firmware version and do some reboots and power cycles to confirm operation
confirm presence of the compass and correct order
Note that previous GNSS units, Here3 and so on, have the CAN port wire colours reversed so CAN1 is red, orange, brown, black and CAN2 is green, white, blue, grey as per the original documents.
I am using two Here4 GPS modules in a moving baseline configuration. One of the modules is currently showing a solid white LED and is non-functional. Despite attempts to get support from the reseller, I have not received adequate assistance, so I’m preparing to perform the bootloader update myself.
The official CubePilot information regarding the mandatory Here4 bootloader update (SB_0000010) provides some guidance, but it lacks sufficient detail for me to proceed confidently. Specifically, I need clear instructions on the following:
The exact wiring and connection details for performing the bootloader update using an STLink.
Specifications or a reliable source to obtain the appropriate 6-pin JST SUR SWD connector compatible with the Here4.
Confirmation that updating the bootloader will not affect the moving baseline functionality of the modules.
I appreciate any detailed technical insights or resources shared here that can help me execute this update successfully.
Thank you.
The instructions are complete. As we have said earlier, if you’re not an advanced user who already knows how to use the SWD system without further instruction, please contact your reseller if your unit is bricked
I’m trying to use the 6-pin SUR SWD connector to ST-link v2, and want to verify the pinout. Is the attached pic from your Interface specs suitable for Here4 SUR header. (There is no specific mention.). See the screen grab from the interface specs. thanks.
