# PX4 F9P GPS

<figure><img src="https://3329189600-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FFW1Ge1p1f6WHyiYCb146%2Fuploads%2Fgit-blob-2cb2f0d746dc561c87247e338ab36ca7f8cdd554%2FGPS%20module%20(future).png?alt=media" alt="" width="375"><figcaption></figcaption></figure>

{% hint style="danger" %}
This part is not sold by Auterion.
{% endhint %}

## Good to know

The PX4 F9P GPS module is a customization of the [Holybro H-RTK F9P Rover lite module](http://www.holybro.com/product/h-rtk-f9p/). The customizations are PX4 branding and the addition of a PPS signal on pin 6, which is not available on the standard module. With regard to the evaluation kit, this module supercedes the [Freefly RTK GPS](https://docs.auterion.com/hardware-integration/skynode/peripherals/freefly-rtk-gps)

## Setup

This module works out of the box. Simply plug it into the GPS1 connector on the [Pixhawk Adapter board](https://docs.auterion.com/hardware-integration/skynode/peripherals/adapter-boards), and calibrate the magnetometer.

## Pinouts

<table data-header-hidden><thead><tr><th width="150">Pin</th><th width="197">Name</th><th width="150">Lvl</th><th>Function</th></tr></thead><tbody><tr><td>Pin</td><td>Name</td><td>Lvl</td><td>Function</td></tr><tr><td>1</td><td>VDD_5V</td><td>5V</td><td>5V supply</td></tr><tr><td>2</td><td>USART_TX</td><td>3.3V</td><td>GPS 1 TX</td></tr><tr><td>3</td><td>USART_RX</td><td>3.3V</td><td>GPS 1 RX</td></tr><tr><td>4</td><td>I2C_SCL</td><td>3.3V</td><td>I2C SCL for magnetometer</td></tr><tr><td>5</td><td>I2C_SDA</td><td>3.3V</td><td>I2C SDA for magnetometer</td></tr><tr><td>6</td><td>GPS_PPS</td><td>3.3V</td><td>PPS signal from GPS module</td></tr><tr><td>7</td><td>SAFETY_SWITCH</td><td>3.3V</td><td>Safety switch state</td></tr><tr><td>8</td><td>SAFETY_SWITCH_LED</td><td>3.3V</td><td>Safety switch led</td></tr><tr><td>9</td><td>VDD_3V3</td><td>3.3V</td><td>3.3V supply</td></tr><tr><td>10</td><td>BUZZER_INV</td><td></td><td>Buzzer</td></tr><tr><td>11</td><td>GND</td><td></td><td>Ground</td></tr></tbody></table>

## Integration for buyers of the Evaluation Kit

Similarly to the USB camera, a GPS module should also work with no effort once plugged into the Pixhawk adapter board.

1. Connect Skynode to the Pixhawk adapter board using the Primary/Secondary 40 pin molex cables. If you need to use both side of the board you have to connect both 40 pin connectors (Primary AND Secondary) to Skynode.

<figure><img src="https://3329189600-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FFW1Ge1p1f6WHyiYCb146%2Fuploads%2Fgit-blob-c987bb07921ae4b08cdaa411c8cedbada74d24c7%2Fskynode_to_pixhawk_adaptor_board.jpg?alt=media" alt=""><figcaption></figcaption></figure>

2. Connect the GPS to the Pixhawk adapter board using the appropriate connector\
   (GPS2/J23 for 6-pin GPS module or GPS1/J13 for a 11-pin one).

<figure><img src="https://3329189600-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FFW1Ge1p1f6WHyiYCb146%2Fuploads%2Fgit-blob-c6b01d0bee49f7c0ecda9e13d7bab9b3aeebc4c1%2FPixhawkAdapter_annot.jpg?alt=media" alt=""><figcaption></figcaption></figure>

3. Connect Skynode to AMC and power it up. If the GPS module has been correctly connected the LEDs on it should start blinking.\\
4. Make sure to be in a place where the GPS sensor would be able to connect to the GPS satellites. Once the connection with the satellites has been established the position on the map should update and the satellite icon on the top bar should become green. By clicking on the icon, you should be able to access the GPS Status window with the relative positional information.


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