diff --git a/docs/assets/hardware/gps/datagnss_nano_hrtk/helix_rtk_pinout.png b/docs/assets/hardware/gps/datagnss_nano_hrtk/helix_rtk_pinout.png
new file mode 100644
index 0000000000..1233fa559e
Binary files /dev/null and b/docs/assets/hardware/gps/datagnss_nano_hrtk/helix_rtk_pinout.png differ
diff --git a/docs/assets/hardware/gps/datagnss_nano_hrtk/helix_rtk_rendering.png b/docs/assets/hardware/gps/datagnss_nano_hrtk/helix_rtk_rendering.png
new file mode 100644
index 0000000000..e440103dd8
Binary files /dev/null and b/docs/assets/hardware/gps/datagnss_nano_hrtk/helix_rtk_rendering.png differ
diff --git a/docs/assets/hardware/gps/datagnss_nano_hrtk/nano-hrtk-2d.png b/docs/assets/hardware/gps/datagnss_nano_hrtk/nano-hrtk-2d.png
new file mode 100644
index 0000000000..16a5af1fda
Binary files /dev/null and b/docs/assets/hardware/gps/datagnss_nano_hrtk/nano-hrtk-2d.png differ
diff --git a/docs/assets/hardware/gps/datagnss_nano_hrtk/nano_hrtk_antenna.png b/docs/assets/hardware/gps/datagnss_nano_hrtk/nano_hrtk_antenna.png
new file mode 100644
index 0000000000..78a7223dc3
Binary files /dev/null and b/docs/assets/hardware/gps/datagnss_nano_hrtk/nano_hrtk_antenna.png differ
diff --git a/docs/assets/hardware/gps/datagnss_nano_hrtk/nano_hrtk_case.png b/docs/assets/hardware/gps/datagnss_nano_hrtk/nano_hrtk_case.png
new file mode 100644
index 0000000000..57f8cfd90a
Binary files /dev/null and b/docs/assets/hardware/gps/datagnss_nano_hrtk/nano_hrtk_case.png differ
diff --git a/docs/assets/hardware/gps/datagnss_nano_hrtk/nano_hrtk_rcv_line_drawing.png b/docs/assets/hardware/gps/datagnss_nano_hrtk/nano_hrtk_rcv_line_drawing.png
new file mode 100644
index 0000000000..c861b14be9
Binary files /dev/null and b/docs/assets/hardware/gps/datagnss_nano_hrtk/nano_hrtk_rcv_line_drawing.png differ
diff --git a/docs/assets/hardware/gps/datagnss_nano_hrtk/rover_gnss_setup.png b/docs/assets/hardware/gps/datagnss_nano_hrtk/rover_gnss_setup.png
new file mode 100644
index 0000000000..e0e3cc31bb
Binary files /dev/null and b/docs/assets/hardware/gps/datagnss_nano_hrtk/rover_gnss_setup.png differ
diff --git a/docs/assets/hardware/gps/datagnss_nano_hrtk/setup_overview.png b/docs/assets/hardware/gps/datagnss_nano_hrtk/setup_overview.png
new file mode 100644
index 0000000000..1a80709063
Binary files /dev/null and b/docs/assets/hardware/gps/datagnss_nano_hrtk/setup_overview.png differ
diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md
index 37349b9d46..352bab77cc 100644
--- a/docs/en/SUMMARY.md
+++ b/docs/en/SUMMARY.md
@@ -271,6 +271,7 @@
- [CUAV C-RTK](gps_compass/rtk_gps_cuav_c-rtk.md)
- [CUAV C-RTK2 PPK/RTK GNSS](gps_compass/rtk_gps_cuav_c-rtk2.md)
- [CUAV C-RTK 9Ps](gps_compass/rtk_gps_cuav_c-rtk-9ps.md)
+ - [DATAGNSS NANO HRTK GNSS](gps_compass/rtk_gps_datagnss_nano_hrtk.md)
- [DATAGNSS GEM1305 RTK GNSS](gps_compass/rtk_gps_gem1305.md)
- [Femtones MINI2 Receiver](gps_compass/rtk_gps_fem_mini2.md)
- [Freefly RTK GPS](gps_compass/rtk_gps_freefly.md)
diff --git a/docs/en/gps_compass/rtk_gps.md b/docs/en/gps_compass/rtk_gps.md
index a41c9e3570..ed1a3474c6 100644
--- a/docs/en/gps_compass/rtk_gps.md
+++ b/docs/en/gps_compass/rtk_gps.md
@@ -31,7 +31,8 @@ Device | GPS | Compass | [DroneCAN](../dronecan/index.md) | [GPS Yaw](#configuri
[CubePilot Here+ RTK GPS](../gps_compass/rtk_gps_hex_hereplus.md) | M8P | HMC5983 | | |
[CubePilot Here3 CAN GNSS GPS (M8N)](https://www.cubepilot.org/#/here/here3) | M8P | ICM20948 | ✓ | |
[Drotek SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | RM3100 | | [Dual F9P][DualF9P] |
-[DATAGNSS GEM1305 RTK Receiver][DATAGNSS GEM1305 RTK] | TAU951M | ✘ | | ✘ |
+[DATAGNSS NANO HRTK Receiver](../gps_compass/rtk_gps_datagnss_nano_hrtk.md) | [D10P](https://docs.datagnss.com/gnss/gnss_module/D10P_RTK) | IST8310 | | ✘ |
+[DATAGNSS GEM1305 RTK Receiver](../gps_compass/rtk_gps_gem1305.md) | TAU951M | IST8310 | | ✘ |
[Femtones MINI2 Receiver](../gps_compass/rtk_gps_fem_mini2.md) | FB672, FB6A0 | ✓ | | |
[Freefly RTK GPS](../gps_compass/rtk_gps_freefly.md) | F9P | IST8310 | | |
[Holybro H-RTK ZED-F9P RTK Rover (DroneCAN variant)](../dronecan/holybro_h_rtk_zed_f9p_gps.md) | F9P | RM3100 | ✓ | [Dual F9P][DualF9P] |
diff --git a/docs/en/gps_compass/rtk_gps_datagnss_nano_hrtk.md b/docs/en/gps_compass/rtk_gps_datagnss_nano_hrtk.md
new file mode 100644
index 0000000000..daf50ca963
--- /dev/null
+++ b/docs/en/gps_compass/rtk_gps_datagnss_nano_hrtk.md
@@ -0,0 +1,123 @@
+# DATAGNSS NANO HRTK receiver
+
+NANO HRTK receiver is a RTK receiver designed and manufactured by [DATAGNSS](https://www.datagnss.com/).
+
+It is a high performance dual-band RTK receiver with compass, which is based on CYNOSURE series chipset.
+It supports global civil navigation systems, including GPS, BDS, GLONASS, Galileo, QZSS, and SBAS.
+
+NANO HRTK receiver support compass.
+It is designed for UAV, RTK, and other applications.
+
+
+
+::: info
+The NANO HRTK Receiver supports both base and rover options.
+It does not yet support _moving base_ mode.
+:::
+
+## Where to Buy
+
+- [NANO HRTK receiver](https://www.datagnss.com/collections/gnss-for-drone/products/nano-helix-rtk-receiver) (www.datagnss.com)
+
+## Key Features
+
+- Full constellation, multi-frequency GNSS satellite receiver
+- Support RTK with up to 10hz output rate
+- Standard UART serial interface
+- Lightweight and compact size
+
+## Frequencies
+
+- GPS/QZSS: L1 C/A, L5C
+- GLONASS: L1OF
+- BEIDOU: B1I, B2a
+- GALILEO: E1, E5a
+- IRNSS: L5
+
+## GNSS
+
+- 128 hardware channels
+- 3D accuracy: **1.5m** CEP
+- RTK accuracy: **2cm** +1PPM(H), 3cm+1PPM(V)
+
+## Interface
+
+- UART \*2 : 230400bps default
+- SMA connector for antenna
+- Output rate 5Hz default, up to 10Hz
+- Main power supply: 4.7~5.2V
+
+## Protocol
+
+- NMEA-0183 output
+- RTCM3.x input/output
+
+## Environment
+
+- Operating temp. -20~85°C
+
+## Dimension and Weight
+
+- 35x30mm
+- 25g
+
+## Pinout
+
+The board is connected to the autopilot via UART interface.
+
+
+
+The 1.25mm pitch 6P connector supports UART for GNSS and I2C for compass.
+
+
+
+## Hardware Setup
+
+RTK requires a base RTK module attached to the ground station, and a rover RTK module on the vehicle.
+The data from the base needs to be transmitted to the drone via telemetry radio and sent to the RTK receiver on the rover.
+
+
+
+The setup/connections for base and rover modules are shown below.
+
+### Base Setup (GCS)
+
+The base station connections are shown in the diagram below, along with the connection to a telemetry radio.
+
+
+
+Note that for the base we recommend the [NANO RTK Receiver](https://www.datagnss.com/collections/gnss-for-drone/products/multi-band-rtk-receiver-package) because it is easier to setup.
+
+
+
+See to [How to setup Base station](https://wiki.datagnss.com/index.php/GEM1305-autopilot#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner).
+
+### Rover Setup (PX4)
+
+The rover setup showing connections to a GPS port and the (required) connection to a telemetry radio are shown in the diagram below.
+
+
+
+The diagram below shows the wiring from the `GPS2` port on the Pixhawk 6c flight controller.
+Note that an appropriate cable is supplied for this purpose.
+
+GPS and RTK configuration on PX4 via _QGroundControl_ is plug and play (see [RTK GPS](../gps_compass/rtk_gps.md) for more information).
+
+## Package List
+
+- NANO HRTK Receiver
+- DG-6P-Cxx, GH-1.25mm-GH 6P cable
+- Helix antenna L1/L2/L5 (optional)
+
+## Resources
+
+- [NANO RTK Receiver 2D drawing file](https://wiki.datagnss.com/images/3/31/EVK-DG-1206_V.2.0.pdf)
+- [NANO HRTK Receiver Wiki](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-helix-rtk/) (DATAGNSS WiKi)
+- [HED-10L Heading RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/HED-10L/)
+
+## More information
+
+- [NANO RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-rtk-receiver)
+- [HELIX Antenna for RTK](https://www.datagnss.com/collections/rtk-antenna/products/smart-helix-antenna)
+- [RTK Antenna AGR6302G](https://www.datagnss.com/collections/rtk-antenna/products/antenna-agr6302g)
+- [AT400 RTK Antenna](https://www.datagnss.com/collections/rtk-antenna/products/at400-multi-band-antenna-for-rtk)
diff --git a/docs/en/gps_compass/rtk_gps_gem1305.md b/docs/en/gps_compass/rtk_gps_gem1305.md
index 378cdcfb53..1625484731 100644
--- a/docs/en/gps_compass/rtk_gps_gem1305.md
+++ b/docs/en/gps_compass/rtk_gps_gem1305.md
@@ -1,24 +1,22 @@
# DATAGNSS GEM1305 RTK Receiver with antenna
-GEM1305 is a RTK receiver with antenna designed and manufactured by [DATAGNSS](https://www.datagnss.com/).
+GEM1305 is an [RTK GNSS](../gps_compass/rtk_gps.md) receiver with antenna designed and manufactured by [DATAGNSS](https://www.datagnss.com/).
GEM1305 is based on the new generation CYNOSURE IV dual-core GNSS SoC.
It supports RTK functionality with a maximum data update rate of 10Hz, and comes with cables for connecting to GPS ports on most Pixhawk devices.
-
+
::: info
-
-- GEM1305 RTK doesn't support moving base mode yet.
-- GEM1305 RTK does not include a compass.
-
+GEM1305 supports both base and rover options.
+It does not yet support _moving base_ mode.
:::
## Where to Buy
- [GEM1305 RTK receiver with antenna](https://www.datagnss.com/collections/gnss-for-drone/products/gem1305) (www.datagnss.com)
- 
+ 
- [DGM10 RTK Receiver](https://www.datagnss.com/collections/gnss-for-drone/products/dgm10-rtk-receiver) (same receiver in a casing).
@@ -28,6 +26,7 @@ It supports RTK functionality with a maximum data update rate of 10Hz, and comes
- Full constellation, multi-frequency GNSS satellite receiver
- Support RTK with up to 10hz output rate
+- IST8310 compass
- Standard UART serial interface
- Lightweight only 50g or 26g(NANO RTK receiver)
- High performance antenna
@@ -73,16 +72,7 @@ The board is connected to the autopilot via UART interface.
-The 1.25mm pitch 6P connector (from left: PIN1 to PIN6):
-
-- 1: GND
-- 2: NC
-- 3: PPS
-- 4: Rx
-- 5: Tx
-- 6: 5V
-
-The board does not include a compass and so does not require connections for a compass part.
+The 1.25mm pitch 6P connector (from left: PIN1 to PIN6) supports UART for GNSS and I2C for compass.
## Hardware Setup
@@ -125,10 +115,10 @@ GPS and RTK configuration on PX4 via _QGroundControl_ is plug and play (see [RTK
## Resources
-- [GEM1305 2D drawing file](https://wiki.datagnss.com/index.php/GEM1305)
- [NANO RTK Receiver 2D drawing file](https://wiki.datagnss.com/images/3/31/EVK-DG-1206_V.2.0.pdf)
-- [GEM1305 Wiki](https://wiki.datagnss.com/index.php/GEM1305) (DATAGNSS WiKi)
-- [HED-10L Heading RTK Receiver](https://wiki.datagnss.com/index.php/HED-10L)
+- [GEM1305 Wiki](https://docs.datagnss.com/gnss/rtk_receiver/GEM1305/) (DATAGNSS WiKi)
+- [HED-10L Heading RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/HED-10L/)
+- [NANO HRTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-helix-rtk/)
## More information