The Here+ RTK GPS receiver 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。
- ProfiCNC
- Hex - China (China)
- Other resellers
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 with the following pinout
| 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 |
Connection examples are shown below for a number of boards (these can be used to modify the cable as needed for other boards).
The supplied cable can be inserted directly into the Hex Cube (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.
| 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 |
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.
:::note 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 |