mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-24 15:27:41 +08:00
89 lines
3.1 KiB
Markdown
89 lines
3.1 KiB
Markdown
# HEX/ProfiCNC Here2 GPS (Discontinued)
|
|
|
|
::: warning
|
|
This has been superseded by the [Cube Here 3](https://www.cubepilot.com/#/here/here3)
|
|
:::
|
|
|
|
The _Here2 GPS receiver_ is an update to the Here GPS module from HEX.
|
|
|
|
Main features include:
|
|
|
|
- Concurrent reception of up to 3 GNSS (GPS, Galileo, GLOSNASS, BeiDou)
|
|
- Industry Leading -167 dBm navigation sensitivity
|
|
- Security and integrity protection
|
|
- Supports all satellite augmentation systems
|
|
- Advanced jamming and spoofing detection
|
|
|
|
<img src="../../assets/hardware/gps/here2_gps_module.jpg" />
|
|
|
|
## Where to Buy
|
|
|
|
- [Resellers](https://www.cubepilot.com/#/reseller/list)
|
|
|
|
## Configuration
|
|
|
|
Setup and use on PX4 is largely plug and play.
|
|
|
|
::: info
|
|
|
|
- If the GPS is _not detected_ then [update the Here2 firmware](https://docs.cubepilot.org/user-guides/here-2/updating-here-2-firmware).
|
|
- If the GPS is detected but does not work, attempt the process outlined in [allocating node uavcan ID](https://docs.cubepilot.org/user-guides/here-2/here-2-can-mode-instruction).
|
|
:::
|
|
|
|
## Wiring and Connections
|
|
|
|
The Here2 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.
|
|
|
|
<img src="../../assets/hardware/gps/rtk_here_plug_gps_to_6pin_connector.jpg" width="500px" />
|
|
|
|
Pin 6 and 7 are for the safety button - these can be attached as well if needed.
|
|
|
|
### Pinout
|
|
|
|
The Here2 GPS pinout is provided below. This can be used to help modify the connector for other autopilot boards.
|
|
|
|
| pin | Here2 GPS | pin | Pixhawk 3 Pro GPS |
|
|
| --- | ---------- | --- | ----------------- |
|
|
| 1 | VCC_5V | 1 | VCC |
|
|
| 2 | GPS_RX | 2 | GPS_TX |
|
|
| 3 | GPS_TX | 3 | GPS_RX |
|
|
| 4 | SCL | 4 | SCL |
|
|
| 5 | SDA | 5 | SDA |
|
|
| 6 | BUTTON | - | - |
|
|
| 7 | BUTTON_LED | - | - |
|
|
| 8 | GND | 6 | GND |
|
|
|
|
## Specification
|
|
|
|
- **Processor:** STM32F302
|
|
- **Sensor**
|
|
- **Compass, Gyro, Accelerometer:** ICM20948
|
|
- **Barometer:** MS5611
|
|
- **Receiver Type:** 72-channel u-blox M8N engine, GPS/QZSS L2 C/A, GLONASS L10F, BeiDou B11, Galileo E1B/C, SBAS L1 C/A: WAAS, EGNOS, MSAS, GAGAN
|
|
- **Navigation Update Rate:** Max: 10 Hz
|
|
- **Positionaing Accuracy:** 3D Fix
|
|
- **Time to first fix:**
|
|
- **Cold start:** 26s
|
|
- **Aided start:** 2s
|
|
- **Reacquisition:** 1s
|
|
- **Sensitivity:**
|
|
- **Tracking & Navigation:** -167 dBm
|
|
- **Hot start:** -148 dBm
|
|
- **Cold start:** -157 dBm
|
|
- **Assisted GNSS**
|
|
- AssistNow GNSS Online
|
|
- AssistNow GNSS Offline (up to 35 days)
|
|
- AssistNow Autonomous (up to 6 days)
|
|
- OMA SUPL& 3GPP compliant
|
|
- **Oscillator:** TCXO (NEO-8MN/Q)
|
|
- **RTC crystal:** Build in
|
|
- **ROM:** Flash (NEO-8MN)
|
|
- **Available Antennas:** Active Antenna & Passive Antenna
|
|
- **Signal Integrity:** Signature feature with SHA 256
|
|
- **Protocols & Interfaces:**
|
|
- **UART/I2C/CAN:** JST_GH Main interface, Switch internally.
|
|
- **STM32 Main Programming Interface:** JST_SUR
|