Here2 GPS/mag over UAVCAN not working

[julianoes]

Describe the bug It seems like the GPS and mag of the Here2 GPS via UAVCAN are not working.

To Reproduce

1. Update Here2 GPS using MissionPlanner to latest and greatest.
2. Connect Here2 with Pixhawk 4 to Can1 port.
3. Set UAVCAN_ENABLE to 2 (Sensors automatic config).
4. Check listener sensor_mag, check gps status.

Expected behavior A clear and concise description of what you expected to happen.

Log Files and Screenshots

INFO  [uavcan] Node ID 1, bitrate 1000000
INFO  [uavcan] sensor bridge 'baro' init ok
INFO  [uavcan] sensor bridge 'mag' init ok
INFO  [uavcan] sensor bridge 'gnss' init ok
INFO  [uavcan] sensor bridge 'flow' init ok
INFO  [uavcan] sensor bridge 'battery' init ok
ERROR [uavcan] CentralizedServer init: -1
ERROR [uavcan] Node init failed: -1
ERROR [uavcan] Firmware Server Failed to Start -1

nsh> uavcan status
Pool allocator status:
        Capacity hard/soft: 500/250 blocks
        Reserved:  2 blocks
        Allocated: 2 blocks

UAVCAN node status:
        Internal failures: 0
        Transfer errors:   0
        RX transfers:      0
        TX transfers:      85

CAN1 status:
        HW errors: 182
        IO errors: 182
        RX frames: 35
        TX frames: 57
CAN2 status:
        HW errors: 8939
        IO errors: 8939
        RX frames: 0
        TX frames: 57

control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
INFO  [mixer_module] Switched to rate_ctrl work queue: 0
INFO  [mixer_module] Mixer loaded: no
INFO  [mixer_module] Driver instance: 0
INFO  [mixer_module] Channel Configuration:
INFO  [mixer_module] Channel 0: value: 0, failsafe: 0, disarmed: 65535, min: 1, max: 8191
INFO  [mixer_module] Channel 1: value: 0, failsafe: 0, disarmed: 65535, min: 1, max: 8191
INFO  [mixer_module] Channel 2: value: 0, failsafe: 0, disarmed: 65535, min: 1, max: 8191
INFO  [mixer_module] Channel 3: value: 0, failsafe: 0, disarmed: 65535, min: 1, max: 8191
INFO  [mixer_module] Channel 4: value: 0, failsafe: 0, disarmed: 65535, min: 1, max: 8191
INFO  [mixer_module] Channel 5: value: 0, failsafe: 0, disarmed: 65535, min: 1, max: 8191
INFO  [mixer_module] Channel 6: value: 0, failsafe: 0, disarmed: 65535, min: 1, max: 8191
INFO  [mixer_module] Channel 7: value: 0, failsafe: 0, disarmed: 65535, min: 1, max: 8191
INFO  [mixer_module] Channel 8: value: 0, failsafe: 0, disarmed: 65535, min: 1, max: 8191
INFO  [mixer_module] Channel 9: value: 0, failsafe: 0, disarmed: 65535, min: 1, max: 8191
INFO  [mixer_module] Channel 10: value: 0, failsafe: 0, disarmed: 65535, min: 1, max: 8191
INFO  [mixer_module] Channel 11: value: 0, failsafe: 0, disarmed: 65535, min: 1, max: 8191
INFO  [mixer_module] Channel 12: value: 0, failsafe: 0, disarmed: 65535, min: 1, max: 8191
INFO  [mixer_module] Channel 13: value: 0, failsafe: 0, disarmed: 65535, min: 1, max: 8191
INFO  [mixer_module] Channel 14: value: 0, failsafe: 0, disarmed: 65535, min: 1, max: 8191
INFO  [mixer_module] Channel 15: value: 0, failsafe: 0, disarmed: 65535, min: 1, max: 8191

Sensor 'baro':
devname: /dev/baro
channel 0: empty
channel 1: empty
channel 2: empty
channel 3: empty
channel 4: empty

Sensor 'mag':
devname: /dev/mag
channel 0: empty
channel 1: empty
channel 2: empty
channel 3: empty
channel 4: empty

Sensor 'gnss':
RX errors: 0, using old Fix: 1, receiver node id: N/A

Sensor 'flow':
devname: /dev/flow
channel 0: empty
channel 1: empty
channel 2: empty
channel 3: empty
channel 4: empty

Sensor 'battery':
devname: /dev/battery
channel 0: empty
channel 1: empty
channel 2: empty
channel 3: empty
channel 4: empty

Online nodes (Node ID, Health, Mode):

uavcan: cycle time: 9619 events, 225719us elapsed, 23.47us avg, min 11us max 971us 24.913us rms
uavcan: cycle interval: 9619 events, 2955.38us avg, min 25us max 4276us 381.113us rms

nsh> listener sensor_mag

TOPIC: sensor_mag
 sensor_mag_s
        timestamp: 96218552  (0.013206 seconds ago)
        error_count: 0
        device_id: 396825 (Type: 0x06, I2C:3 (0x0E)) 
        x: 0.0630
        y: -0.2040
        z: 0.3090
        temperature: 0.0000
        scaling: 0.0030
        x_raw: 21
        y_raw: -68
        z_raw: 103
        is_external: False
nsh> listener vehicle_gps_position
never published
nsh> 

Additional context Version: 09c8c8f706c5f6df3d42ee968f9c9d52cbf2e25a

@pavel-kirienko what am I doing wrong? And where do I find more docs about this?

[dagar]

Do you have a babel or something you can use to see what's on the CAN bus?

[julianoes]

@dagar maybe, I'd have to check.

[ayberkozgur]

~I have the same problem, there is nothing but the here2 and babel NodeStatus on the bus (pixhawk not on the bus).~

My bad, it seems the bootloader image at https://docs.cubepilot.org/user-guides/here-2/updating-here-2-firmware is really only the bootloader without the firmware and the actual firmware image has to be flashed as well. After that everything is working fine.

[stale[bot]]

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

[hichamhendy]

Any news on that?