Remove 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.
Connect 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.
Using the supplied USB cable, connect the Cube to your computer.
The required version of mission planner is 1.3.66 or later. Mission planner can be retrieved from
Released versions of ArduCopter do not have support for SLCAN as of this writing. Download the latest master from firmware.ardupilot.org. The file that you need is called arducopter.apj Direct link: http://firmware.ardupilot.org/Copter/latest/CubeBlack/arducopter.apj
Launch Mission Planner. Click “Initial Setup,” then “Load custom firmware.” Navigate to the arducopter.apj file that you downloaded and select it.
Click Config/Tuning then Full Parameter List then search for CAN_, change CAN_P1_DRIVER to 1 and click Write Params.
Unplug the USB cable, plug it back in and reconnect Mission Planner.
Click Initial Setup, then Optional Hardware, then UAVCAN, then SLCan Mode CAN1. Connected CAN devices (in this case, a Here 2) will be listed.
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.
Select Update again, navigate to the Here2_com.hex.here_2.1-crc.bin file and open it to flash the latest firmware.