# Hex Here2

The [Here2 GPS receiver](http://www.proficnc.com/all-products/152-gps-module.html) is an update to the Here GPS module from HEX.

Main features include:

* Concurrent reception of up to 3 GNSS (GPS, Galileo, GLOSNASS, BeiDou)
* Industry Leading -167 dBm navigation sensitivity
* Security and integrity protection
* Supports all satellite augmentation systems
* Advanced jamming and spoofing detection

![](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-43e9655bd5c262bbd9ec440c50187b8fad25132d%2Fhere2_gps_module.jpg?alt=media)

## Where to Buy

* [ProfiCNC](http://www.proficnc.com/all-products/152-gps-module.html) (Australia)
* [Other resellers](http://www.proficnc.com/stores)

## Configuration

Setup and use on PX4 is largely plug and play.

:::note

* If the GPS is _not detected_ then [update the Here2 firmware](https://docs.cubepilot.org/user-guides/here-2/updating-here-2-firmware).
* If the GPS is detected but does not work, attempt the process outlined in [allocating node uavcan ID](https://docs.cubepilot.org/user-guides/here-2/here-2-can-mode-instruction). :::

## Wiring and Connections

The Here2 GPS comes with an 8 pin connector that can be inserted directly into the [Pixhawk 2](http://www.hex.aero/wp-content/uploads/2016/07/DRS_Pixhawk-2-17th-march-2016.pdf) GPS UART port.

The Pixhawk 3 Pro and Pixracer have a 6 pin GPS port connector. For these controllers you can modify the GPS cable (as shown below) to remove pin 6 and 7.

![](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-e21708dadc733fa15c826948dc3b4978e7ff02fb%2Frtk_here_plug_gps_to_6pin_connector.jpg?alt=media)

Pin 6 and 7 are for the safety button - these can be attached as well if needed.

### Pinout

The Here2 GPS pinout is provided below. This can be used to help modify the connector for other autopilot boards.

| pin | Here2 GPS   | pin | Pixhawk 3 Pro GPS |
| --- | ----------- | --- | ----------------- |
| 1   | VCC\_5V     | 1   | VCC               |
| 2   | GPS\_RX     | 2   | GPS\_TX           |
| 3   | GPS\_TX     | 3   | GPS\_RX           |
| 4   | SCL         | 4   | SCL               |
| 5   | SDA         | 5   | SDA               |
| 6   | BUTTON      | -   | -                 |
| 7   | BUTTON\_LED | -   | -                 |
| 8   | GND         | 6   | GND               |

## Specification

* **Processor:** STM32F302
* **Sensor**
  * **Compass, Gyro, Accelerometer:** ICM20948
  * **Barometer:** MS5611
* **Receiver Type:** 72-channel u-blox M8N engine, GPS/QZSS L2 C/A, GLONASS L10F, BeiDou B11, Galileo E1B/C, SBAS L1 C/A: WAAS, EGNOS, MSAS, GAGAN
* **Navigation Update Rate:** Max: 10 Hz
* **Positionaing Accuracy:** 3D Fix
* **Time to first fix:**
  * **Cold start:** 26s
  * **Aided start:** 2s
  * **Reacquisition:** 1s
* **Sensitivity:**
  * **Tracking & Navigation:** -167 dBm
  * **Hot start:** -148 dBm
  * **Cold start:** -157 dBm
* **Assisted GNSS**
  * AssistNow GNSS Online
  * AssistNow GNSS Offline (up to 35 days)
  * AssistNow Autonomous (up to 6 days)
  * OMA SUPL& 3GPP compliant
* **Oscillator:** TCXO (NEO-8MN/Q)
* **RTC crystal:** Build in
* **ROM:** Flash (NEO-8MN)
* **Available Antennas:** Active Antenna & Passive Antenna
* **Signal Integrity:** Signature feature with SHA 256
* **Protocols & Interfaces:**
  * **UART/I2C/CAN:** JST\_GH Main interface, Switch internally.
  * **STM32 Main Programming Interface:** JST\_SUR
