Here 2 User Guides

Here 2 Main - Here 2 User Guides

Here 2 User Guides

Table of Contents

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Updating Here 2 Firmware

Here2 User Guides .Instructions for Connecting the Here 2 to CAN and Using the DroneCAN Interface in Mission Planner to Update the Here2 Bootloader

Step 1: Switching the Here 2 to CAN mode

Step 1 - Here 2 User Guides

Step 1: Switching the Here 2 to CAN modeRemove the case from the Here 2. Unplug the 8-wire cable and replace it with the included 4-wire CAN cable. Move the switch from the I2C position to the CAN position.

Note: This step is only required if your Here 2 has the 8-wire Serial/I2C cable which plugs in to the GPS 2 connector on the carrier board. If your Here 2 already has the 4-wire CAN cable attached, you can skip this step.

Step 2: Connect to the Cube

Step 2 - Here 2 User Guides

Step 2: Connect to the CubeConnect the CAN cable to the CAN 1 connector on the carrier board, as shown in the image to the left.

Note: On standard carrier boards manufactured before June 2019, this connector is mislabeled as CAN 2. Connect as shown in the image to the left.

Step 3: Connect USB

Using the supplied USB cable, connect the Cube to your computer.

Step 4: Install or update Mission Planner

The required version of mission planner is 1.3.66 or later. Mission planner can be retrieved from

Step 5: Download ArduCopter Firmware

Released versions of ArduCopter do not have support for SLCAN as of this writing. Download the stable  from The file that you need is called arducopter.apj Direct link:






Step 6: Flash ArduCopterFirmware

Step 6 - Here 2 User Guides

Step 6: Flash ArduCopter master

Launch Mission Planner. Click “Initial Setup,” then “Load custom firmware.” Navigate to the arducopter.apj file that you downloaded and select it.

Step 7: Enable CAN

Step 7 - Here 2 User Guides

Step 7: Enable CANClick Config/Tuning then Full Parameter List then search for CAN_, change CAN_P1_DRIVER to 1 and click Write Params.

Step 8: Reboot the cube

Unplug the USB cable, plug it back in and reconnect Mission Planner.

Step 9: Using the Mission Planner SLCAN interface

Step 9 - Here 2 User Guides

Step 9: Using the Mission Planner SLCAN interface

Click Initial Setup, then Optional Hardware, then DroneCAN, then SLCan Mode CAN1. Connected CAN devices (in this case, a Here 2) will be listed.

Step 10: Flash the bootloader updater

Step10 - Here 2 User Guides

The bootloader updater performs the procedure listed above, which will start immediately after the firmware update completes.On the Here 2 entry in the list, select Update, navigate to the bootloader_updater file and open it. After this point, DO NOT DISCONNECT POWER UNTIL THE LEDS ARE EITHER GREEN OR YELLOW, OR 3 MINUTES HAVE ELAPSED

Step 11: Flash the application

Select Update again, navigate to the Here2_com.hex.here_2.1-crc.bin file and open it to flash the latest firmware.

Here 2 CAN Mode Instruction

Here2 Default factory setting is CAN mode with DroneCAN Protocol. Default Here2 CAN mode has three devices on CAN bus: GPS, magnetic compass, and barometer. The safety switch is not workable under CAN mode and the barometer is disabled in CAN mode by default. The barometer can be enabled by DroneCAN parameters setting.

How to use CAN mode:

Using Ardupilot Firmware:Current official Ardupilot firmware (Copter3.6.7, Plane3.9.6 as well as previous versions) does not support Dynamic Node Allocator, hence user needs to allocate node ID to Here2 manually. The later released Copter3.7 firmware will support Dynamic Node Allocator, user only needs to set the parameters of their flight controller to use CAN mode.Allocating node ID method:For allocating node ID to Here2, user needs to use Cube as SLCAN (Serial port to CAN) device, and use the latest version of Mission Planner. At first, upgrade the MissionPlanner to 1.3.63 version, please go to the link: for downloading. Meanwhile the Cube which would be the SLCAN connector needs to be uploaded with copter3.7master firmware.Connect the 4p CAN cable in Here2 with the CAN2 port in the Cube controller. Connect the cube to MissionPlanner 1.3.63 version and select firmware upload, click on ‘upload custom firmware’ to upload the previously downloaded arducopter firmware.

Here 2 CAN Instruction 1 - Here 2 User Guides

After uploading successfully, click on ‘Connect’. Press Ctrl+L keys to enter into DRONECAN interface.

Here 2 CAN Instruction 2 - Here 2 User Guides

Click on ‘SLCan Mode CAN1’, then the information of Here2 device will show up. Click on ‘Parameters’ on the right side.

here 2 can instruction 3 1 - Here 2 User Guides

Pop up the parameters setting interface shown as the screenshot below, set the value of dronecan.node_id between 0 and 125. Click on ‘Writing parameters’, then click on ‘Commit Params’ to save the setting. With the above mentioned steps, manual Node allocation is completed. If the user would like to enable the barometer, it can be done by setting the value of BARO_ENABLE as 1.Here 2 CAN Instruction 4 - Here 2 User Guides


After modifying the Node ID, the firmware and MissionPlanner can be changed into stable version.Boot Cube controller and connect with MissionPlanner, enter into the MissionPlanner to change the parameters with corresponding values as follows:







Writing the modified parameters, reboot the cube therefore the CAN mode can work properly.CANBUS external compass will show up as the third compass with current Ardupilot firmware. Future firmware update will allow CANBUS external compass to be primary. Safety switch on the Here2 will not work under CAN mode. Modify the parameter BRD_SAFETYENABLE to 0 to disable the safety switch, or connect an external safety switch to GPS1 port.Note: The later released Copter3.7 firmware will support Dynamic Node Allocator. To use the CAN mode user only needs to modify the parameters.

Using PX4 firmware:

Connect with CAN1 or CAN2 port. Connect with the controller to set the DRONECAN_ENABLE parameter as Sensors Automatic Config. The sensors should work properly.

How to use I2C mode:Here 2 CAN Instruction 5 - Here 2 User Guides


Here2 also supports the traditional serial port + I2C communication. To use this mode, please disassemble the Here2 housing, Put the lever switch for CAN and Serial+I2C to Serial+I2C position shown as below. Connect the here2 with GPS1 port of the Cube flight controller.

Here 2 Firmware Update Troubleshooting

Most issues updating the HERE 2 are related to not following the update process exsactly or not leaving enough time before rebooting after updaing the bootloader, some issues that have been see are

  • Here 2 not showing in SLCAN
  • Here 2 No showing in SLCAN after updating bootloader step
  • LED’s stuck solid green

If you are having trouble updating you Here 2 firmware or your Here 2 is not showing in SLCAN check the following

Check CAN Port

On some early standard carrier board models including the Intel Edision verison the CAN ports were incorrectly labled and swapped around, this could result in CAN 1 and CAN 2 showing reversed in SLCAN.

Latest Mission Planner

Make sure you are using the latest release of mission planner, you can download this from you are still having issues with SLCAN now showing the Here 2 try using the Beta verions of Mission Planner, you can download this from the help page.


You should have the latest verions of Ardupilot on your Cube when trying to update your Here 2 GPS, if your having prblems getitng the Here 2 to show in SLCAN make sure you have updated your Cube.
If your still having issues try flashing your cube to the latest version of a diferent vehicle such as Plane or Rover if your using Copter.

Boot Delay

If the above does not help try increasing the boot delay pram in ardupilot as follows
Note: You should return this to the default value after updating is complete

Solid Green LED’s

If your Here 2 has solid green led after updating its likely the full process has not competed, you must update both the bootloader and then the application, the update must be completed in full as per the instructions.


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