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PX4-Autopilot/docs/en/gps_compass/gps_hex_here2.md
Hamish Willee 88d623bedb
Move PX4 Guide source into /docs (#24490) 
* Add vitepress tree

* Update existing workflows so they dont trigger on changes in the docs path

* Add nojekyll, package.json, LICENCE etc

* Add crowdin docs upload/download scripts

* Add docs flaw checker workflows

* Used docs prefix for docs workflows

* Crowdin obvious fixes

* ci: docs move to self hosted runner

runs on a beefy server for faster builds

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* ci: don't run build action for docs or ci changes

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* ci: update runners

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* Add docs/en

* Add docs assets and scripts

* Fix up editlinks to point to PX4 sources

* Download just the translations that are supported

* Add translation sources for zh, uk, ko

* Update latest tranlsation and uorb graphs

* update vitepress to latest

---------

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
2025-03-13 16:08:27 +11:00

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HEX/ProfiCNC Here2 GPS (Discontinued)

::: warning This has been superseded by the Cube Here 3 :::

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

Where to Buy

Configuration

Setup and use on PX4 is largely plug and play.

::: info

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.

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