Cubepilot Here4 RTK GNSS mit Kompass

Cubepilot Here4 is a top-tier GPS module with an integrated RM3100 compass and a communication interface DroneCAN. Here4 supports frequencies L1 and L5 for improved accuracy and a larger number of satellites. Here4 supports RTK corrections for maximum accuracy.

The core consists of the u-blox NEO F9P receiver, which operates with multiple satellite systems simultaneously, specifically GPS, GLONASS, Galileo, BeiDou, and QZSS including SBAS. It supports dual frequencies L1 and L5 in bands B1I, B2a, E1B C, E5a, L1C A, L1OF, L5, can process up to four GNSS systems at once, and utilizing RTK corrections achieves accuracy of approximately 0.01 m + 1 ppm CEP with a refresh rate of up to 20 Hz.

The core of the electronics is a powerful STM32H7 processor with AP Periph firmware, which ensures local data preprocessing and allows updates via Mission Planner or other tools. The module integrates a complete IMU assembly ICM42688, an accurate RM3100 magnetometer, and a MS5611 barometer.

For communication with the autopilot, Here4 uses the DroneCAN interface with a data rate of up to 8 Mbit/s. The CAN bus significantly increases resistance to interference, enables longer cabling without signal degradation, and provides higher throughput capacity than traditional serial UART outputs. In addition to connecting to the CAN network, the module also provides a UART and I2C interface for special configurations or when using Here4 as a standalone control module.

Here4 can also be used as a compact control unit thanks to the breakout board. Under certain conditions, ArduPilot can be uploaded directly into the Here4 module. It offers up to 8 PWM or DShot outputs for motors and servos and an RCIN input for the receiver.

The mechanical design of the module is adapted for outdoor use. The rugged casing is designed to be dust-proof and waterproof. The module uses a sensitive dual-band Taoglas L1 L5 antenna with high gain. Integrated LED indicators provide clear visibility for the status of GNSS, RTK fix, errors, and other functions. Dimensions are approximately 16 × 68 mm and weight around 60 g including cable, facilitating installation on copters, fixed wings, and VTOL aircraft.

Here4 is fully compatible with ArduPilot and PX4, including configuration via Mission Planner and QGroundControl, and represents a top solution for projects requiring a combination of centimeter-level accuracy, robust communication, and rich sensor integration in one module.

Documentation

3D Model