mirror of https://github.com/ArduPilot/ardupilot
25 lines
1.1 KiB
Markdown
25 lines
1.1 KiB
Markdown
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# Here4 GPS Module as Flight Controller
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Here4 Module is sold as a GPS module, but it can be used as a flight controller.
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## Features
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- STM32H757 MCU
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- ICM45686 IMU
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- MS5611 Barometer
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- RM3100 Compass
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- 1x UART
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- 2x CAN
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- 8x PWM
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- 1x RCIN
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- 1x UBLOX NEO-F9P L1L5 GNSS
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## How to use
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- To load the FC firmware on production Here4. User needs to first update Here4 through DroneCAN tool or Mission Planners DroneCAN config using FC firmware, which is .bin format.
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- After first update, users can connect through the serial port. Check https://docs.cubepilot.org/user-guides/here-4/here-4-manual#pinout for breakout board pinouts.
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- For enabling future updates to FC firmware, use flash bootloader through mission planner, and then user should be able to update firmware through Serial port.
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- Please note that once the firmware is updated to FC, to rollback to GPS firmware user will need to update using APJ file available here https://github.com/CubePilot/GNSSPeriph-release/releases.
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## Pinout and Connectors
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https://docs.cubepilot.org/user-guides/here-4/here-4-manual#pinout
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