# SB\_0000010 Mandatory Here4 bootloader update before further flight **URL:** \ **Category:** Mandatory Safety Bulletins\ **Created:** [5 August 2025 07:57 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630 "2025-08-05T07:57:18Z")\ **Posts on this page:** 20\ **Page:** 1
**Author:** ![philip](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/philip/32/9035_2.png) [@philip](https://discuss.cubepilot.org/u/philip)\ **Post date:** [5 August 2025 07:57 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/1 "2025-08-05T07:57:18Z")
# BEFORE FURTHER FLIGHT ## Urgent Bootloader Update needed on Here4 If your Here4 doesn’t breath blue on boot, then you MUST do this bootloader update All Here4 users need to update the bootloader on their Here4 units BEFORE FURTHER FLIGHT. ### For units NOT showing blue breathing at boot The process for doing this update is as follows: - Follow the steps here to update the firmware [Here 4 Manual | CubePilot](https://docs.cubepilot.org/user-guides/here-4/here-4-manual#id-3.-firmware-update) - 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: #### For STLink: - Use this [bootloader file](https://github.com/CubePilot/GNSSPeriph-release/raw/refs/heads/release/bootloaders/Here4_bl.bin) and flash at address 0x08000000 #### For JLink: - Use this [bootloader file](https://github.com/CubePilot/GNSSPeriph-release/raw/refs/heads/release/bootloaders/Here4_bl.hex) use JFlashLite to flash. **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.** Additional Resources: - [Batch Update Tool](https://github.com/CubePilot/DroneCAN-Batch-Updater/blob/v0.0.1/Here4%20Batch%20Update%20User%20Manual.md) - [Here4 FW Release 1.15.0](https://github.com/CubePilot/GNSSPeriph-release/releases/tag/v1.15.0) ---
**Author:** ![xfacta](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/x/5f8ce5/32.png) [@xfacta](https://discuss.cubepilot.org/u/xfacta)\ **Post date:** [5 August 2025 13:05 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/2 "2025-08-05T13:05:05Z")
Just tried one - all OK doing the update via SLCAN. - Make sure the Here4 is connected to the CAN1 bus by the blue/white wires - Be sure to do the bootloader update procedure. - The SW version after update is: **1.15.5F1FC167** ---
**Author:** ![RedbullF1](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/redbullf1/32/8107_2.png) [@RedbullF1](https://discuss.cubepilot.org/u/RedbullF1)\ **Post date:** [5 August 2025 17:30 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/3 "2025-08-05T17:30:57Z")
What was the issue with previous bootloader? Why hasn’t it mentioned anywhere? ---
**Author:** ![Joshua\_Kordani](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/joshua_kordani/32/9209_2.png) [@Joshua\_Kordani](https://discuss.cubepilot.org/u/Joshua_Kordani)\ **Post date:** [5 August 2025 17:31 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/4 "2025-08-05T17:31:00Z")
Does this apply to Here4 Blue? ---
**Author:** ![xfacta](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/x/5f8ce5/32.png) [@xfacta](https://discuss.cubepilot.org/u/xfacta)\ **Post date:** [5 August 2025 23:28 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/5 "2025-08-05T23:28:58Z")
There Here4 Blue is what I just updated and it’s still working OK ---
**Author:** ![Aman](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/a/90ced4/32.png) [@Aman](https://discuss.cubepilot.org/u/Aman)\ **Post date:** [7 August 2025 07:56 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/6 "2025-08-07T07:56:21Z")
> [@philip](#): > > SWD connector (6pin JST SUR) 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. Thank You ---
**Author:** ![philip](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/philip/32/9035_2.png) [@philip](https://discuss.cubepilot.org/u/philip)\ **Post date:** [7 August 2025 08:52 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/7 "2025-08-07T08:52:54Z")
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. > **[Interface Specifications | CubePilot](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/interface-specifications)** This connector is the standard connector for all our products ---
**Author:** ![philip](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/philip/32/9035_2.png) [@philip](https://discuss.cubepilot.org/u/philip)\ **Post date:** [7 August 2025 08:53 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/8 "2025-08-07T08:53:33Z")
Not yet ---
**Author:** ![Aman](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/a/90ced4/32.png) [@Aman](https://discuss.cubepilot.org/u/Aman)\ **Post date:** [13 August 2025 18:36 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/9 "2025-08-13T18:36:50Z")
Hello @philip, I believe the issue is not been fully solved, ![Media (8)](https://discuss.cubepilot.org/uploads/default/original/2X/2/244dc701dc0deefdf47766547159ec77ad01a0ef.jpeg) ![Media (7)](https://discuss.cubepilot.org/uploads/default/original/2X/9/9335a8bcc14768d5d600b80722870000ded25adb.jpeg) 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, ---
**Author:** ![Jimi1811](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/jimi1811/32/7786_2.png) [@Jimi1811](https://discuss.cubepilot.org/u/Jimi1811)\ **Post date:** [21 August 2025 02:00 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/10 "2025-08-21T02:00:33Z")
Hello @philip, 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? ---
**Author:** ![philip](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/philip/32/9035_2.png) [@philip](https://discuss.cubepilot.org/u/philip)\ **Post date:** [22 August 2025 12:08 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/11 "2025-08-22T12:08:01Z")
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 ---
**Author:** ![Aman](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/a/90ced4/32.png) [@Aman](https://discuss.cubepilot.org/u/Aman)\ **Post date:** [25 August 2025 13:47 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/12 "2025-08-25T13:47:14Z")
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. I request you to please provide a solution ---
**Author:** ![philip](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/philip/32/9035_2.png) [@philip](https://discuss.cubepilot.org/u/philip)\ **Post date:** [25 August 2025 16:05 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/13 "2025-08-25T16:05:08Z")
It is possible you have a compass issue.. logs etc? ---
**Author:** ![RedbullF1](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/redbullf1/32/8107_2.png) [@RedbullF1](https://discuss.cubepilot.org/u/RedbullF1)\ **Post date:** [26 August 2025 19:25 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/14 "2025-08-26T19:25:31Z")
> [@philip](#): > > 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 Is there a changelog for this? And reason for having one more compass? ---
**Author:** ![Dawid\_Zielonka](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/dawid_zielonka/32/6223_2.png) [@Dawid\_Zielonka](https://discuss.cubepilot.org/u/Dawid_Zielonka)\ **Post date:** [27 August 2025 12:50 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/15 "2025-08-27T12:50:51Z")
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? ---
**Author:** ![xfacta](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/x/5f8ce5/32.png) [@xfacta](https://discuss.cubepilot.org/u/xfacta)\ **Post date:** [15 September 2025 11:30 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/17 "2025-09-15T11:30:36Z")
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 ![image](https://discuss.cubepilot.org/uploads/default/original/2X/5/5367d296796d0ab60e9fe4a466e1ee05a96ed31f.png) 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. ---
**Author:** ![jiten\_agmove](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/jiten_agmove/32/9238_2.png) [@jiten\_agmove](https://discuss.cubepilot.org/u/jiten_agmove)\ **Post date:** [12 October 2025 11:24 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/18 "2025-10-12T11:24:51Z")
Hello, 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. ---
**Author:** ![philip](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/philip/32/9035_2.png) [@philip](https://discuss.cubepilot.org/u/philip)\ **Post date:** [12 October 2025 12:47 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/19 "2025-10-12T12:47:59Z")
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 ---
**Author:** ![sdhall102](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/s/ee7513/32.png) [@sdhall102](https://discuss.cubepilot.org/u/sdhall102)\ **Post date:** [22 October 2025 18:27 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/20 "2025-10-22T18:27:16Z")
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. ![image](https://discuss.cubepilot.org/uploads/default/original/2X/6/68a4a0b29fc65a68c03e6f2e41a7b53c01c52a9f.png) ---
**Author:** ![xfacta](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/x/5f8ce5/32.png) [@xfacta](https://discuss.cubepilot.org/u/xfacta)\ **Post date:** [25 October 2025 11:03 UTC](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630/21 "2025-10-25T11:03:38Z")
You only need to connect pins 4, 5 and 6 to the STLink-V2 Power the Here4 via the CAN bus as per normal [Next page](https://discuss.cubepilot.org/t/sb-0000010-mandatory-here4-bootloader-update-before-further-flight/15630.md?page=2)