HEX/ProfiCNC Here+ RTK GPS
The Here+ RTK GPS receiver is a small, light and energy efficient RTK GPS, based on the u-blox M8P. Using RTK, PX4 can get its position with centimetre-level accuracy, which is much more accurate than can be provided by a normal GPS.
RTK setup and use on PX4 via QGroundControl is largely plug and play (see RTK GPS for more information).
Wiring and Connections
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. This can be used to help modify the connector for other autopilot boards.
|pin||Here+ GPS||pin||Pixhawk 3 Pro GPS|