PX4-Autopilot/docs/zh/dronecan/holybro_m8n_gps.md

# Holybro DroneCAN M8N GPS

Holybro DroneCAN GPS有一个UBLOX M8N 模块，BMM150指南针，三色LED指示器。

The GPS module uses the [DroneCAN](index.md) protocol for communication.
DroneCAN连接比串行连接更抗电磁干扰，从而更加可靠。
此外，使用DroneCAN意味着GPS和指南针不占用任何飞控串口（不同/附加的CAN设备可以通过CAN分离板连接到同一CAN总线。

<img src="../../assets/hardware/gps/hb_dronecan_m8n/hb_dronecan_m8n_gps.jpg" width="400px" title="Hero diagram for the GPS module" />

## 购买渠道

Order this module from:

- [Holybro](https://holybro.com/products/dronecan-m8n-gps)

## Hardware Specifications

|                           | DroneCAN M8N                                                                                                                                       |
| ------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
| GNSS Receiver             | Ublox NEO M8N                                                                                                                                      |
| Number of Concurrent GNSS | 2 (Default GPS + GLONASS)                                                                                                       |
| 处理器                       | STM32G4 (170MHz, 512K FLASH)                                                                                                    |
| 罗盘                        | BMM150                                                                                                                                             |
| Frequency Band            | <p>GPS: L1C/A<br>GLONASS: L10F<br>Beidou: B1I<br>Galileo: E1B/C</p>                                                                                |
| GNSS Augmentation System  | SBAS: WAAS, EGNOS, MSAS, QZSS                                                                                                      |
| Navigation Update         | 5Hz Default(10Hz MAX)                                                                                                           |
| Navigation sensitivity    | –167 dBm                                                                                                                                           |
| Cold starts               | \~ 26s                                                                                                                            |
| Accuracy                  | 2.5m                                                                                                                               |
| Speed Accuracy            | 0.05 m/s                                                                                                                           |
| Max # of Satellites       | 22+                                                                                                                                                |
| Default CAN BUS data rate | 1MHz                                                                                                                                               |
| Communication Protocol    | DroneCAN @ 1 Mbit/s                                                                                                                   |
| Supports Autopilot FW     | PX4, Ardupilot                                                                                                                                     |
| Port Type                 | GHR-04V-S                                                                                                                                          |
| Antenna                   | 25 x 25 x 4 mm ceramic patch antenna                                                                                                               |
| Voltage                   | 4.7-5.2V                                                                                                           |
| Power consumption         | Less than 200mA @ 5V                                                                                                                  |
| Temperature               | -40\~80C                                                                                                                          |
| Size                      | <p>Diameter: 54mm<br>Thickness: 14.5mm</p>                                                                                                         |
| 重量                        | 36g                                                                                                                                                |
| Cable Length              | 26cm                                                                                                                                               |
| Other                     | <ul><li>LNA MAX2659ELT+ RF Amplifier</li><li>Rechargeable Farah capacitance</li><li>Low noise 3.3V regulator</li><li>26cm cable included</li></ul> |

## 硬件安装

### Mounting

The recommended mounting orientation is with the arrow on the GPS pointing towards the **front of vehicle**.

The sensor can be mounted anywhere on the frame, but you will need to specify its position, relative to vehicle centre of gravity, during [PX4 configuration](#px4-configuration).

### 布线

The Holybro DroneCAN GPS is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable.
For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.

### 针脚定义

![Diagram showing GPS pinouts](../../assets/hardware/gps/hb_dronecan_m8n/hb_dronecan_m8n_gps_pinout.jpg)

### 尺寸

![Diagram showing GPS dimensions](../../assets/hardware/gps/hb_dronecan_m8n/hb_dronecan_m8n_gps_dimension.jpg)

## PX4 配置

You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle.
The required settings are outlined below.

:::info
The GPS will not boot if there is no SD card in the flight controller when powered on.
:::

### Enable DroneCAN

In order to use the ARK GPS board, connect it to the Pixhawk CAN bus and enable the DroneCAN driver by setting parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)).

步骤如下：

- In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` or `3` and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
- Connect GPS CAN to the Pixhawk CAN.

Once enabled, the module will be detected on boot.
GPS data should arrive at 5Hz.

DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).

### Sensor Position Configuration

If the sensor is not centred within the vehicle you will also need to define sensor offsets:

- Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
- Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
- Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` if this is that last node on the CAN bus.
- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK GPS from the vehicles centre of gravity.