Cube orange plus not detecting can devices

PX4 Autopilot
1

I’m using cube orange plus with 1.16.1 px4 version. Any device or sensors connected to it not publishing the data. Like here 4 gps not showing any Gps data.

2

Hi there!

Could you type uavcan status in the Mavlink Console?

Is it just CAN devices or also other devices/sensors?

3

Here I’m posting uavcan status:

NuttShell (NSH) NuttX-11.0.0
nsh> uavcan status
Pool allocator status:
Capacity hard/soft: 500/250 blocks
Reserved: 52 blocks
Allocated: 12 blocks

UAVCAN node status:
Internal failures: 154
Transfer errors: 0
RX transfers: 922
TX transfers: 3753

CAN1 status:
HW errors: 0
IO errors: 0
RX frames: 922
TX frames: 6636
CAN2 status:
HW errors: 5275
IO errors: 6638
RX frames: 0
TX frames: 5270

Sensor ‘gnss’:
name: uavcan_gnss

Sensor ‘gnss_relative’:
name: uavcan_gnss_relative

Sensor ‘mag’:
name: uavcan_mag

Online nodes (Node ID, Health, Mode):

uavcan: cycle time: 61406 events, 1547935us elapsed, 25.21us avg, min 12us max 1990us 46.929us rms
uavcan: cycle interval: 61407 events, 2961.74us avg, min 19us max 4229us 392.215us rms
nsh>

Only can devices not showing

4

Use formatted text, it helps to read your messages.

It seems like you’re seeing lots of HW and IO errors. Are you using termination resistors?

Also try to include more info in your posts - pictures of the setup and parameters file could help a lot with this type of issues.

5

yeah I added a 120 ohms resistor between CAN_H and CAN_L because the resistance showing 120 Ohms. Even if without resistor its not showing any data.

6

Did you set the subscriptions/publications? DroneCAN | PX4 Guide (main)

Make sure you set CAN termination on the bus On CAN bus topology and termination - Applications & Usage - OpenCyphal Forum - it may be that your hardware already does this, but you need to enable it via **CANNODE_TERM

REITERATING THE COMMENT above “Also try to include more info in your posts - pictures of the setup and parameters file could help a lot with this type of issues.“**

7

A few more things to check:

  • Are the devices getting power (ie. are the lights working)?
  • Did you switch High and Low by accident?
8

yeah here 4 getting power also led lights blinking as it needs to be but showing no data. There is also a current sensor connected to CAN bus that is also showing no data.

High and low don’t understand please clarify.

9

I had faced a very similar issue and got stuck in the same way. What worked for us was to first flash the Cube with ArduPilot, then reflash it with PX4 1.15.4, and also format the SD card so any old parameters or stale files were cleared.

After doing that, the GPS started getting detected again. I’m still not sure why it does not work properly with 1.16.1 in this case.

Update: After putting the SD card and burning the firmware it GPS started working properly. This is there in the documentation - “PX4 requires an SD card to enable dynamic node allocation and for firmware update. The SD card is not used in flight.“ DroneCAN | PX4 Guide (main)

10

Do you use the factory wiring? If so this will not be the issue

11

yeah I’m using factory wiring. Also I’m using this flight controller from last some months never faced CAN bus issue but now it’s showing this issue.