HEX/ProfiCNC Here+ RTK GPS

The Here+ RTK GPS receiver is a small, light and energy efficient RTK GPS module, 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.

Purchase

Configuration

RTK setup and use on PX4 via QGroundControl is largely plug and play (see RTK GPS for more information).

Pinout

The Here+ GPS comes with an 8 pin connector with the following pinout

Here+ Pinout (viewed from base)

Pin Here+ GPS
1 (purple) VCC_5V
2 (blue) GPS_RX
3 (green) GPS_TX
4 (yellow) I2C SCL
5 (orange) I2C SDA
6 (red) SAFETY BUTTON
7 (brown) BUTTON_LED
8 (black) GND

Wiring and Connections

Connection examples are shown below for a number of boards (these can be used to modify the cable as needed for other boards).

Hex Cube

The supplied cable can be inserted directly into the Hex Cube (Pixhawk 2) GPS UART port.

Pixhawk 3 Pro

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.

rtk_here_plug_gps_to_6pin_connector

Pin 6 and 7 are for the safety button - these can be attached as well if needed.

Pin Here+ GPS Pin Pixhawk 3 Pro GPS
1 VCC_5V 1 VCC
2 GPS_RX 2 GPS_TX
3 GPS_TX 3 GPS_RX
4 I2C SCL 4 SCL
5 I2C SDA 5 SDA
6 BUTTON - -
7 BUTTON_LED - -
8 GND 6 GND

Pixhawk 4

The Here+ to Pixhawk 4 GPS port pin mapping is 1:1 for pins 1-7 and then connect GND (Here+ pin 8 / Pixhawk pin 10). Pixhawk 4 GPS port pins 8 and 9 can be left disconnected.

The Pixhawk 4 GPS port has pin 1 on the left hand side.

Pin Here+ GPS pin Pixhawk 4 GPS Port
1 VCC_5V 1 VCC (+5V)
2 GPS_RX 2 GPS_TX
3 GPS_TX 3 GPS_RX
4 I2C SCL 4 SCL1
5 I2C SDA 5 SDA1
6 BUTTON 6 SAFETY_SWITCH
7 BUTTON_LED 7 SAFETY_SWITCH_LED
/ - 8 VDD_3V3
/ - 9 BUZZER
8 GND 10 GND
© PX4 Dev Team. License: CC BY 4.0            Updated: 2020-10-23 00:56:02

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