# HEX/ProfiCNC Here+ RTK GPS

The Here+ RTK GPS receiver (opens new window) is a small, light and energy efficient RTK GPS module, based on the u-blox M8P. 使用RTK,PX4控制器可以获取到它的位置,并且这个位置的精度可以达到厘米级的精度,这比普通GPS提供的位置更加精确。

# 购买

# 配置

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

# 针脚定义

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

Here+ Pinout (viewed from base)

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

# 接线和连接

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.

针脚 Here+ GPS 针脚 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.

注解

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

针脚 Here+ GPS 引脚 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