A CAN device says it is not healthy
What ArduPilot says:
- Node N unhealthy!
Every DroneCAN device broadcasts its own state about once a second: a health (OK, warning, error, critical) and a mode (operational, initialising, maintenance, software update). When a node reports anything other than OK and operational, arming is refused with “DroneCAN: Node N unhealthy!”. It clears when every known node is OK and operational again.
What to do, most likely first
The device is still starting, or waiting for something of its own (a GPS for its first data).
CheckThe message goes away within half a minute of power-on.
FixWait. If it never clears, see the next cause.
The device has a fault of its own, or is stuck in its bootloader after a firmware update that did not finish.
CheckIn the ground station's DroneCAN screen find node N: its name, health and mode. “CAN[N] …” lines carry the device's own complaints.
FixFlash the device's firmware again from that screen, check its supply voltage, or replace it.
Parameters to look at
| Parameter | What it is |
|---|---|
CAN_D1_UC_OPTION | DroneCAN options |
Where to do it:Board & Wiring Planner
The code that sends it
Node N unhealthy!
libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp AP_DroneCAN_DNA_Server::prearm_check() · Open in ArduPilot Copter-4.7.1