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In parameter setting page, change uavcan.node_id to 0-125. Click before entering value. Then,
click "Commit Params" to save the changes and completed manual CAN id allocation.

After manually setting the two Here3 node ids in turn,Connect the two Here3 interfaces to the
flight controller CAN 1 and CAN 2, respectively.

Turn on the flight controller and connect it to Mission Planner. Go to "Config/Tuning > Full
Parameter List" and modify the following paramters:

CAN_D1_PROTOCOL: 1

CAN_D2_PROTOCOL: 1

CAN_P1_DRIVER: 1

CAN_P2_DRIVER: 1

GPS_TYPE: 9

GPS_TYPE2: 9

Содержание here3

Страница 1: ......

Страница 2: ...source structure is ideally suited to developers who need specialized requirements on their navigation system Feature 1 Cost e cient high precision and RTK supported GNSS chip base station needed for...

Страница 3: ...nector to CAN1 or CAN2 port on ight controller power the ight controller and connect it to Mission Planner Go to Con g Tuning Full Parameter List and modify the following paramters CAN_D1_PROTOCOL 1 C...

Страница 4: ...roller one at a time and conduct the following procedure Select install rmware from Mission Planner and load the latest copter and plane rmware After successful loading select the autopilot COM port w...

Страница 5: ...n After manually setting the two Here3 node ids in turn Connect the two Here3 interfaces to the ight controller CAN 1 and CAN 2 respectively Turn on the ight controller and connect it to Mission Plann...

Страница 6: ...ss is automatically set to compass 2 Safety switch is not available in Here3 Safety switch check can be disabled by changing parameter BRD_SAFETYENABLE to 0 Connecting an external safety switch to GPS...

Страница 7: ...w on the right to move the UAVCAN compass to the rst place Select the compasses that need to be used or leaving it as default and then click Start to Start the calibration of the compasses After the c...

Страница 8: ...are before using it Connect the 4pin CAN connector from Here3 to CAN2 port on autopilot Select install rmware from Mission Planner and load the latest copter rmware After successful loading select the...

Страница 9: ...ngs of Here3 pop up click Parameters from the right In parameter setting page change uavcan node_id to 0 125 Click before entering value Then click Commit Params to save the changes and completed manu...

Страница 10: ...and level while it initializes the sensors Flashing blue Disarmed no GPS lock found Solid blue Armed with no GPS lock Flashing green Disarmed ready to arm GPS lock acquired Fast Flashing green Same as...

Страница 11: ...like bad format etc Not lighting up No rmware detected or rmware corrupted RTK Use Operation Base Rover Survey by Mission Planner This part of the tutorial uses Mission Planner ground software and Ard...

Страница 12: ...uires the base and rover antenna to have clear view of the sky that is 30 degrees above horizon RTK antenna can be elevated but make sure that there are no obstacles around such as buildings trees car...

Страница 13: ...ct You will see the following page Select the correct base module com port in the top left corner and click connect In the SurveyIn Acc section enter the absolute geographic accuracy that you expect y...

Страница 14: ...s a certain amount of time to meet the accuracy requirements of your input Testing shows that in an open area without shelter to achieve the absolute accuracy of 2m takes a few minutes to reach the ab...

Страница 15: ...n Planner Click Save Current Pos enter a name in the dialog box and click OK As shown below you can see your saved location in the list Click the Use button for the location you saved The base station...

Страница 16: ...ed solution RTK Fixed mode has a higher accuracy and requires better signal strength 3D RTK is uni ed saying of RTK Float RTK in the Mission Planner Chinese version Single Base to Multiple Rovers Ther...

Страница 17: ...If you connected the UAVs with 1 telemetry module they should share the same COM port...

Страница 18: ...2020 8 1...

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