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CubePilotGNSS receivers2 configurationsSKU CP-GNS-HERE4-G

Here4 GNSS / RTK Receiver (DroneCAN)

★★★★★4.8 (198)Compatibility record includedEngineering support included

Single receiver for standard navigation and return-to-launch.

Configuration

Switching a variant updates the parameters, images and SKU below

GNSS onlyCP-GNS-HERE4-G · In stockRTK base + rover pairCP-GNS-HERE4-RTK · In stock

In stockShips in 1-2 working daysGNSS only

Pricing on request. Send us the platform, the quantity and your target date and we quote stock and lead time, usually within 48 hours.

DroneCAN - consumes no UART, node ID set from the ground station
IP67 sealed housing rated for permanent mast mounting
RTK-ready: base and rover pair pre-paired before dispatch

Key parameters

u-blox F9P
DroneCAN
IP67 housing

Manufacturer

CubePilot

Component type

GNSS receivers

Family

GNSS & RTK

MOQ

1 unit

Lead time

Ships in 1-2 working days

Warranty

18 months

Firmware

ArduPilot / PX4

Buses

CAN

Will this work with my autopilot?

Select your platform and we check the compatibility record for this component.

Positioning
Receiver	u-blox F9P
Constellations	GPS, GLONASS, Galileo, BeiDou
Bands	L1 / L2 dual-band
Horizontal accuracy	1.5 m CEP autonomous, 1 cm + 1 ppm with RTK
Update rate	Up to 8 Hz
RTK baseline	Up to 30 km with a clear sky view

Interfaces
Bus	DroneCAN, 2x JST-GH (in and out)
Compass	Integrated IST8310
Status	RGB LED, firmware updatable over CAN

Power
Input	4.7 - 5.4 V
Typical draw	~190 mA

Mechanical
Housing	IP67 sealed, mast or surface mount
Weight	68 g

Compatibility
Firmware	ArduPilot, PX4 (DroneCAN GNSS driver)
Not compatible with	Autopilots without a DroneCAN port
Scope of supply	1x receiver, mast mount, CAN cable

Often specified together

Components from the same family, or sharing the same bus segment.

Reference platformFlight controllers3 configurations

CubePilotCP-APX-ORP

Cube Orange+ Autopilot

4.9(214)

STM32H757 dual-core
Triple-redundant IMU
5 UART / 2 CAN

Verified for 1 autopilot platforms

Parameters

Flight controllers3 configurations

HolybroCP-APX-6X

Pixhawk 6X Autopilot

4.8(176)

STM32H753
Redundant IMU + baro
Ethernet baseboard

Verified for 1 autopilot platforms

Parameters

Flight controllers2 configurations

CUAVCP-APX-V6X

Pixhawk V6X Autopilot

4.7(118)

STM32H753
Triple IMU, metal chassis
5 UART / 2 CAN

Verified for 1 autopilot platforms

Parameters

Flight controllers2 configurations

ARK ElectronicsCP-APX-ARKV6X

ARKV6X Autopilot with Ethernet

4.7(64)

Triple-redundant IMU
Onboard Ethernet
3x CAN

Verified for 1 autopilot platforms

Parameters