# Freefly RTK GPS

{% hint style="warning" %}
This GPS module was included in Evaluation kits prior to January 2022. It has been replaced with the [PX4 F9P GPS](/hardware-integration/skynode/peripherals/gps.md) thereafter.
{% endhint %}

## What you will need for this step <a href="#what-you-will-need-for-this-step-.2" id="what-you-will-need-for-this-step-.2"></a>

* Skynode Enterprise (powered as described in [Power Skynode](/hardware-integration/skynode/evaluation-kit/powering-skynode.md))
* Cable \_PRIMARY (\_Molex Pico-Clasp 40-pin)
* Pixhawk adapter board
* Cable *GPS* (JST GH 10-pin to JST 8-pin)
* [Freefly RTK GPS](https://freefly.gitbook.io/freefly-public/products/rtk-gps)

![](/files/x17CkUL8DNSRJMUol2jw)

{% hint style="info" %}
The Pixhawk Adapter Board is used to break out the Skynode flight control interfaces on J3 and J4 into [Pixhawk-Standard](https://pixhawk.org/standards/) compatible connectors.
{% endhint %}

{% hint style="success" %}
Please refer to [Skynode Adapter Boards/Pixhawk Adapter Board](/hardware-integration/skynode/peripherals/adapter-boards.md) for more information about the pinout.
{% endhint %}

## Setup

1. **Disconnect** Skynode from power.
2. Connect Skynode Primary (J4) port and the Pixhawk adapter board using the cable labelled *PRIMARY* (supplied in the kit).\
   ![](/files/DZM3a3FJlSC0gRhVYFn4)![](/files/PBUpwVAQYLZbts3yugMT)
3. If the GPS antenna is not already connected to the GPS receiver, screw it onto the SMA connector on the top side of the receiver.
4. Connect the Pixhawk adapter board GPS 1 port and the RTK GPS using the supplied 10-pin to 8-pin JST-GH GPS cable (see below).
5. Power up Skynode; the power LED on the GPS module will light up immediately and the status LED will indicate the current state of the flight controller (e.g. ready, armed, failsafe or low battery, see [LED Meanings](https://docs.px4.io/master/en/getting_started/led_meanings.html#ui-led) for more details).

![](/files/5YtKvGvzgXxID0dnKM3o)

## Coordinate Frames

{% hint style="info" %}
From AuterionOS 2.3 the correct magnetometer orientation is detected automatically during calibration, so there is no need to know the origin reference frames of the sensors anymore. The user is anyway responsible to verify that the heading is correct.
{% endhint %}

The Freefly RTK GPS module included in the Evaluation Kit contains an IST8310 Magnetometer. In order to manually set the magnetometer orientation of your specific mounting orientation relative to Skynode, use the picture below. It depicts Skynode and the GPS module in the zero-rotation configuration. This is not the recommended mounting orientation for products, but serves as an illustrative baseline to determine the proper parameter setting for your own setup.

#### AuterionOS 2.2.2 and older

<figure><img src="/files/BxsYStdlJIIihCLWTSHl" alt=""><figcaption></figcaption></figure>

#### AuterionOS 2.3 and 2.4

<figure><img src="/files/GjwflEKF39VegPn1yWHm" alt=""><figcaption></figcaption></figure>

#### AuterionOS 2.5 and newer

<figure><img src="/files/2XzxF7mRZs110Y4Vy5mP" alt=""><figcaption></figcaption></figure>


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