ACROXAR 드론개발 자료실

회원가입 하시면 지금 바로 사용하실 수 있는 10,000원 할인 쿠폰을 증정합니다.

일주일 간 보지 않기

뒤로가기

현재 위치

홈
게시판
기술자료실

기술자료실

Here 3 GPS Manual 2/2

ACROXAR (ip:)

2022-07-12 16:03:38
추천 추천하기
조회 22

삭제하려면 비밀번호를 입력하세요.

In the RTCM box it shows that the base status indicator is green and both the GPS and Glonass satellite systems are green (if you want to change the satellite system, refer to the following section). The box on the right says "Position is valid".

To store the current location in the Mission Planner: Click "Save Current Pos", enter a name in the dialogue 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 will enter the fixed mode and the status will show "Using FixedLLA". In the future, if you set the base station in the same location, you do not need to conduct the survey again, just click the "Use" button that corresponds to the location you have saved.

Rover Module and Flight Controller Setup

After the base station is set up, you can turn on the UAV. Using the same telemetry module to connect Mission Planner, the base station data will be transmitted through the telemetry module to the Here3 rover module on the UAV. In the Mission Planner main page, you can see the current GPS status displayed as RTK Float / RTK Fixed / 3D RTK, indicating that the positioning of the UAV has entered the RTK mode. RTK Float is a floating-point solution; RTK Fixed is a fixed solution. RTK Fixed mode has higher accuracy and requires better signal strength. 3D RTK is unified saying of RTK Float / RTK in the Mission Planner Chinese version

2. Single Base to Multiple Rovers **

There are 2 methods to do this: 1) Use 1 telemetry to multiple telemetry broadcasting ;or 2) Use multiple 1 to 1 telemetry modules with USB hub

Ground station configuration: connect all telemetry modules to the computer via USB hub. Open Mission Planner to locate the base then connect it with flight controllers. Select AUTO connecting as shown below. All recognized flight controllers on the ports will be connected. You may select the UAV form the dropdown list below:

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

Software Configuration

1.CAN ID change

Use Cube Black to change ID ：

Connect each Here 3 / Here 3+ 4 Pin CAN cable to the CAN 1 port of the flight controller(one at a time), and conduct the following procedure. Select "install firmware" from Mission Planner and load the latest copter and plane firmware.

After successful installed firmware, change baud to 115200, and click connect. Then go to "Config/Tuning > Full Parameter List" and modify the following parameters:

CAN_D1_PROTOCOL：1 set virtual driver of CAN 1 to DRONECAN

CAN_D2_PROTOCOL：1 set virtual driver of CAN 2 to DRONECAN

After successful loading, select the autopilot SLCAN COM port with 115200 baud rate and Connect and then Go to "Initial Setup - Optional Hardware - DRONECAN", click "SLCan Mode CAN1".

When the device settings of Here3 pop-up, click "Parameters" from the right.

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

Use Cube Orange to change ID:

Connect each Here 3 / Here 3+ 4Pin CAN cable to the CAN 1 port of the flight controller(one at a time), and conduct the following procedure. Select "install firmware" from Mission Planner and load the latest copter or plane firmware.

After successful loading, select the autopilot SLCAN COM port with 115200 baud rate and Connect and then go to "Config/Tuning > Full Parameter List" and modify the following parameters:

CAN_D1_PROTOCOL：1 set virtual driver of CAN 1 to DRONECAN

CAN_D2_PROTOCOL：1 set virtual driver of CAN 2 to DRONECAN

After successful loading, select the autopilot SLCAN COM port with 115200 baud rate.

**Do not click connect . **

Then Go to "Initial Setup - Optional Hardware - UAVCAN", click "SLCan Mode CAN1".

When the device settings of Here 3 / Here 3+ pop-up, click "Parameters" from the right.

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

2. Here 3 / Here 3+ firmware upgrade

Please update Mission Planner to the version indicated below(1.3.74) or higher:

Be aware that the following steps should be done when there is only 1 GPS module connected to autopilot. Connect the HERE3 CAN connector to CAN 1 port on autopilot. Connect to Mission Planner and go to “UAVCAN” tab. Click “SLCan Mode CAN 1” to load CAN GPS status. Click “Menu>Update” to check available updates. Update the HERE3 firmware.

(The following procedure is using Here 3 firmware upgrade as an example. The other Here series GPS can also refer to this procedure.)

After clicking “Update”it will ask whether to search update from the Internet. Click “Yes”. (Automatically searches for upgraded to the latest stable version firmware)

Check firmware version after upgrade.After the upgrade, check whether the version is successfully upgraded.

If “no available updates” appears when searching updates. Please turn off your firewall in the system setting and try again.

3. Modify Here 3 GNSS constellations

Through the following steps, GNSS constellations being used by HERE 3 can be selected. It requires HERE 3 to be v1.6 or later. Updating instructions are mentioned in “HERE 3 Firmware Update” section above.

Be aware that the following steps should be done when there is only 1 GPS module connected to autopilot. Connect the HERE 3 CAN connector to CAN 1 on autopilot. Connect to Mission Planner and go to “UAVCAN” tab. Click “SLCan Mode CAN 1” to load CAN GPS status.

After verifying the firmware has already updated to latest, click “Menu – Parameters to enter the setting:

gnssConfig = 8 for BeiDou

gnssConfig = 9 for GPS+BeiDou

gnssConfig = 97 for GPS+GLONASS+QZSS

When done, click “Write Params” and “Commit Params” at the righthand side.

4. HERE3 u-blox Chip Firmware Update

Here is 3 + U-Blox firmware update method will be released when a new firmware comes out for the M8P-2, the here3+ has the latest firmware at launch, and we will update here if a newer version comes out.

The u-blox chip firmware update can be completed only when HERE 3 is updated to latest version. Please follow the instructions in section “HERE 3 Firmware Update” to update your HERE 3 firmware to the latest version.

This instruction uses u-center GUI from u-blox, the correct version should be v20.10 or later:

Download the u-blox chip firmware. (The latest firmware for u-blox M8P chip is v1.4 when this guide is written):

u-blox M8P chip firmware: https://www.u-blox.com/en/product/neo-m8p-series#tab-documentati: https://www.u-blox.com/en/product/neo-m8p-series#tab-documentation-resources

Parameter definition:
passThrough = 0 Standard mode
passThrough = 1 Connect to u-center for parameter review
passThrough = 2 Connect to u-center for firmware update on u-blox chip

After downloading the firmware, connect to Mission Planner. Go to UAVCAN tab and modify the parameter “passthrough” to “2”. When done, click “Write Params” and “Commit Params” at the righthand side.

Click “Menu > Restart”. After that, uptime should be reset to “00:00:00”.

Click “Menu > CANPassThrough”. Set TCP port to “500” then click “OK”.

Open u-center and connect it (Receiver > Connection > Network connection > New.).

Open “Firmware Update Utility” (Tools > Firmware Update.) and set the following:

Click “GO” at the bottom-left corner to start firmware flashing. Wait until it is finished.

After update completed, connect to Mission Planner. Go to “UAVCAN” tab. Modify the parameter “passThrough” to “0” then write and commit.

HERE 3 will now work normally.

Here is 3 + details to follow as this feature gets expanded

The u-blox chip Parameter Checking can be completed only when Here 3 / Here 3+ is updated to latest version. Please follow the instructions in section “HERE 3 Firmware Update” to update your HERE 3 firmware to the latest version.

The u-center must be on v20.10 or later: