> For the complete documentation index, see [llms.txt](https://docs.auterion.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.auterion.com/hardware-integration/skynode/peripherals/freefly-rtk-gps.md).
# 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
* 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)
{% 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).\
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).
## 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
#### AuterionOS 2.3 and 2.4
#### AuterionOS 2.5 and newer
---
# Agent Instructions
This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com.
## Querying This Documentation
If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.
Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter:
```
GET https://docs.auterion.com/hardware-integration/skynode/peripherals/freefly-rtk-gps.md?ask=&goal=
```
`ask` is the immediate question: it should be specific, self-contained, and written in natural language.
`goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.
Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.