# CubeOrange+ Here3+ module CAN communication problem **URL:** \ **Category:** PX4 Autopilot\ **Created:** [June 15, 2023, 2:35pm UTC](https://discuss.px4.io/t/cubeorange-here3-module-can-communication-problem/32784 "2023-06-15T14:35:00Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![NorMinyLaus](https://discuss.px4.io/user_avatar/discuss.px4.io/norminylaus/32/13532_2.png) [@NorMinyLaus](https://discuss.px4.io/u/NorMinyLaus)\ **Post date:** [June 15, 2023, 2:35pm UTC](https://discuss.px4.io/t/cubeorange-here3-module-can-communication-problem/32784/1 "2023-06-15T14:35:01Z")
Hi Community. I developed my px4 autopilot software. I have the stabiled version. I use cubeorange with gnss module here3+. My software is working fine. I can get gnss data correctly. But i started cubeorange+. I dont connect the here3+ module. I got the up-to-date cubeorange+ board of Px4 and fixed it properly. But I can’t connect to CAN line. I tried with I2C and it worked. I tried the same software with cubeorange, it worked again, but it doesn’t work in cubeorange+. I have conveyed the log message that I received an error in the picture. What does the error it gives in the uavcan part here mean? I’ll be happy if you can help me. ![image](https://discuss.px4.io/uploads/default/original/2X/a/a677fc05b4c20b00302eaa5e3f9e2fbb2b449ce3.png) I fixed that last error when I defined a nodeID myself and ran it. But this time there were other errors. My GNSS Module is working fine. There is no hardware error. The cubeorange and cubeorange+ sections under the cubepilot folder on the Board are almost exactly the same. What can cause these errors? Why can’t I communicate over CAN? I would be glad if you share your idea. ![image](https://discuss.px4.io/uploads/default/original/2X/9/90e4f5e79b9fd0e3262129a31928231197f7d707.png) ---
**Author:** ![JulianOes](https://discuss.px4.io/user_avatar/discuss.px4.io/julianoes/32/30_2.png) [@JulianOes](https://discuss.px4.io/u/JulianOes)\ **Post date:** [June 15, 2023, 6:45pm UTC](https://discuss.px4.io/t/cubeorange-here3-module-can-communication-problem/32784/2 "2023-06-15T18:45:27Z")
Hi @NorMinyLaus! Can you tell me what version you’re flashing on the Orange+? I assume it’s something based on top of v1.14 or main? From the output it looks like something fails at the UAVCAN node init. I will try to reproduce this. Can you tell me which CAN port you’re using? Or is it on both? And if you could do a param export in QGC and attach it here, that might also help to narrow it down. ---
**Author:** ![NorMinyLaus](https://discuss.px4.io/user_avatar/discuss.px4.io/norminylaus/32/13532_2.png) [@NorMinyLaus](https://discuss.px4.io/u/NorMinyLaus)\ **Post date:** [June 16, 2023, 5:12am UTC](https://discuss.px4.io/t/cubeorange-here3-module-can-communication-problem/32784/3 "2023-06-16T05:12:31Z")
Hi @JulianOes !, Actually, I’m using version 1.12.3. I’m using CAN 1 port, but I also tried CAN 2 without any changes. I’m sure the issue is software-related. When I download and install the latest PX4 autopilot software, I don’t encounter any problems. However, I need to resolve this issue with my own version. When I test the same software with CubeOrange, I don’t have any problems. It connects seamlessly to the GNSS Here3+ module. But after the release of CubeOrangePlus, I incorporated the latest PX4 versions into the ‘boards-\>cubepilot-\>cubeorangeplus’ section and made the necessary adjustments to my code. There aren’t many changes from the CubeOrange section. However, when I compile it, I’m unable to communicate with the GNSS through this CAN bus. There are no issues when I try using I2C. I added to param datas. [paramdatas.pdf](https://discuss.px4.io/uploads/short-url/rzdo5q723bGdFGxyVCwi3MQfaYQ.pdf) (13.4 KB) I am eagerly awaiting your response. Thank you. ---
**Author:** ![JulianOes](https://discuss.px4.io/user_avatar/discuss.px4.io/julianoes/32/30_2.png) [@JulianOes](https://discuss.px4.io/u/JulianOes)\ **Post date:** [June 16, 2023, 6:45pm UTC](https://discuss.px4.io/t/cubeorange-here3-module-can-communication-problem/32784/4 "2023-06-16T18:45:20Z")
Oh, so you’re using this backport? > **[Commits · CubePilot/PX4-Autopilot](https://github.com/CubePilot/PX4-Autopilot/commits/backport-v1.12-cubeorangeplus)** > > PX4 Autopilot Software. Contribute to CubePilot/PX4-Autopilot development by creating an account on GitHub. I will try to reproduce with this backport then… ---
**Author:** ![NorMinyLaus](https://discuss.px4.io/user_avatar/discuss.px4.io/norminylaus/32/13532_2.png) [@NorMinyLaus](https://discuss.px4.io/u/NorMinyLaus)\ **Post date:** [June 16, 2023, 6:59pm UTC](https://discuss.px4.io/t/cubeorange-here3-module-can-communication-problem/32784/5 "2023-06-16T18:59:26Z")
Thank you for taking the time. I have resolved the issue. While preparing the compilation files for Orange Plus, I encountered a few minor errors, but I managed to solve the problem by referring to the changes made for Orange Plus in versions 1.4.0 beta-1 and beta-2. Still, thank you