CubePilot Here4 Multiband RTK GNSS

Here4 is CubePilot’s multi-band RTK GNSS and navigation module. Built on the u-blox F9P with a Taoglas dual-band antenna, it delivers centimetre-level RTK positioning over DroneCAN and doubles as a peripheral node with its own outputs.

Key features

• u-blox NEO-F9P dual-band RTK receiver: GPS, GLONASS, Galileo and BeiDou (up to 4 at once) plus SBAS and QZSS
• RTK accuracy 0.01 m + 1 ppm CEP, convergence under 10 s, up to 20 Hz update rate
• STM32H757 processor, ICM42688 IMU, RM3100 compass and MS5611 barometer
• DroneCAN at 8 Mbit/s (CAN FD)
• 8 PWM / BDSHOT outputs, RCIN input, hotshoe and camera trigger
• ProfiLED status LED, configurable via parameters or onboard Lua scripting
• Runs on the open-source ArduPilot AP_Periph platform; NDAA compliant

Specifications

• Protocols: NMEA, UBX, RTCM 3.3, SPARTN 2.0.1
• Weight: 60 g
• Size: 68 mm diameter x 16 mm

Documentation: Here4 manual. Genuine CubePilot hardware supplied by Rising Sun FPV, an authorised CubePilot reseller.