Here4: 1.15.5

• Improve initial AK09918 detection for Serial I2C operation.

Here4: v1.15.4

• Use GPS to trim internal clock
• Use Serial passthrough for GPS over serial rather than GPIO bitbang
• Send both AKM and RM3100 compass data over CAN
• Add support for AKM in I2C mode. defaults to it if detected.

Here4 v1.15.3

• Adds support for forcing fastboot bootloader flash when transitioning to Serial I2C mode from CAN mode, and regular bootloader when moving from Serial I2C mode to CAN mode.

Here4 v1.15.2

Additional Change since v1.15.0:

• Adds FLASH_FASTBOOT parameter when set before setting FLASH_BOOTLOADER will flash bootloader that boots straight into firmware, this might be needed for users running Here4 in Serial/I2C mode on PX4.
• Increases the flash size to 2048, this should fix the issue with flashing firmwares like full ardupilot.

Firmware to fix bootloader stuck with white LED in Here4, also fixes Here4AKM firmware falling over to RM3100 when AK09918 doesn't show up.

Process to update bootloader:

• Update using Here4_FW.bin (for RM3100 as default compass) or Here4AKM_FW.bin (for AK09918 as default compass). It can be done through Mission Planner or DroneCAN GUI Tool
• Set FLASH_BOOTLOADER to 1 in Here4
• Wait for bootloader flash (DO NOT POWER CYCLE till the Here4 goes back to flashing normally, it should take about a second or two)
• Wait for Bootloader Flash ok or Bootloader Unchanged message in the logs window.
• If Bootloader Flash ok doesn't show up in the log messages, try setting FLASH_BOOTLOADER to 1 again and wait for either Bootloader Flash ok or Bootloader Unchanged message in the logs.

New LED patterns and their meaning:

• If continuously breathing red for over 10s it means that compass hasn't shown up or is unhealthy. This could also mean that node allocation hasn't been done through Cube. Mags remain unhealthy till then.
• If continuous purple breathing for over it means there is no traffic on CAN1. CAN1 needs to be connected to an active CAN Bus, or Serial I2C cable needs to be plugged in for normal operation. It can also mean that CAN Network is not properly setup/terminated.
• If Blue breathing and then transitioning to rapid rainbow cycle , it means that correct bootloader is flashed, there's activity on the CAN Bus and LED Notify messages are not being sent, or Serial/I2C line is not connected.
• If Blue breathing and correct LED flash based on Drone State, Everythings healthy and as expected.

Validating COMPASS type:

COMPASS_DEV_ID 1114394 # RM3100
COMPASS_DEV_ID 1313793 # AK09918

v1.15.1

Additional Change since v1.15.0:

• Adds FLASH_FASTBOOT parameter when set before setting FLASH_BOOTLOADER will flash bootloader that boots straight into firmware, this might be needed for users running Here4 in Serial/I2C mode on PX4.

Firmware to fix bootloader stuck with white LED in Here4, also fixes Here4AKM firmware falling over to RM3100 when AK09918 doesn't show up.

Process to update bootloader:

• Update using Here4_FW.bin (for RM3100 as default compass) or Here4AKM_FW.bin (for AK09918 as default compass). It can be done through Mission Planner or DroneCAN GUI Tool
• Set FLASH_BOOTLOADER to 1 in Here4
• Wait for bootloader flash (DO NOT POWER CYCLE till the Here4 goes back to flashing normally, it should take about a second or two)
• Wait for Bootloader Flash ok or Bootloader Unchanged message in the logs window.
• If Bootloader Flash ok doesn't show up in the log messages, try setting FLASH_BOOTLOADER to 1 again and wait for either Bootloader Flash ok or Bootloader Unchanged message in the logs.

New LED patterns and their meaning:

• If continuously breathing red for over 10s it means that compass hasn't shown up or is unhealthy. This could also mean that node allocation hasn't been done through Cube. Mags remain unhealthy till then.
• If continuous purple breathing for over it means there is no traffic on CAN1. CAN1 needs to be connected to an active CAN Bus, or Serial I2C cable needs to be plugged in for normal operation. It can also mean that CAN Network is not properly setup/terminated.
• If Blue breathing and then transitioning to rapid rainbow cycle , it means that correct bootloader is flashed, there's activity on the CAN Bus and LED Notify messages are not being sent, or Serial/I2C line is not connected.
• If Blue breathing and correct LED flash based on Drone State, Everythings healthy and as expected.

Validating COMPASS type:

COMPASS_DEV_ID 1114394 # RM3100
COMPASS_DEV_ID 1313793 # AK09918

v1.15.0

Firmware to fix bootloader stuck with white LED in Here4, also fixes Here4AKM firmware falling over to RM3100 when AK09918 doesn't show up.

Process to update bootloader:

• Update using Here4_FW.bin (for RM3100 as default compass) or Here4AKM_FW.bin (for AK09918 as default compass). It can be done through Mission Planner or DroneCAN GUI Tool
• Set FLASH_BOOTLOADER to 1 in Here4
• Wait for bootloader flash (DO NOT POWER CYCLE till the Here4 goes back to flashing normally, it should take about a second or two)
• Wait for Bootloader Flash ok or Bootloader Unchanged message in the logs window.
• If Bootloader Flash ok doesn't show up in the log messages, try setting FLASH_BOOTLOADER to 1 again and wait for either Bootloader Flash ok or Bootloader Unchanged message in the logs.

New LED patterns and their meaning:

• If continuously breathing red for over 10s it means that compass hasn't shown up or is unhealthy. This could also mean that node allocation hasn't been done through Cube. Mags remain unhealthy till then.
• If continuous purple breathing for over it means there is no traffic on CAN1. CAN1 needs to be connected to an active CAN Bus, or Serial I2C cable needs to be plugged in for normal operation. It can also mean that CAN Network is not properly setup/terminated.
• If Blue breathing and then transitioning to rapid rainbow cycle , it means that correct bootloader is flashed, there's activity on the CAN Bus and LED Notify messages are not being sent, or Serial/I2C line is not connected.
• If Blue breathing and correct LED flash based on Drone State, Everythings healthy and as expected.

Validating COMPASS type:

COMPASS_DEV_ID 1114394 # RM3100
COMPASS_DEV_ID 1313793 # AK09918

v1.14.7

• Add support for NAVIC GNSS constellation
• Add build for Here4 AKM variant

v1.14.6

• add support for CANFD Reception on Here4

v1.14.5

Full Changelog: v1.14.4...v1.14.5

v1.14.4

• Update Here4 bootloader for update over serial