RTK setup and use on PX4 via QGroundControl is largely plug and play (see RTK GPS for more information).
The Here+ GPS comes with an 8 pin connector that can be inserted directly into the Pixhawk 2 GPS UART port.
The Pixhawk 3 Pro and Pixracer have a 6 pin GPS port connector. For these controllers you can modify the GPS cable (as shown below) to remove pin 6 and 7.
Pin 6 and 7 are for the safety button - these can be attached as well if needed.
The Here+ GPS pinout is provided below. 这可用于帮助用户修改接口线序以适配其它自动驾驶仪板的连接器。
|引脚||Here+ GPS||引脚||Pixhawk 3 Pro GPS|