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
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.
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 |