Here4 GPS Module as Flight Controller

Here4 Module is sold as a GPS module, but it can be used as a flight controller.

Features

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.
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.
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.
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.