CubePilot Here4 Multiband RTK GNSS Module

The CubePilot Here4 is a professional multiband RTK GNSS module that combines GPS, GLONASS, Galileo, BeiDou and QZSS reception with an integrated compass, built around a u-blox NEO-F9P dual-band receiver for centimetre-level positioning.

Key features

• Dual-band L1/L5 multi-frequency DGNSS reception converges to an RTK fix within seconds for centimetre-accurate positioning
• Built-in STM32H7 processor runs the AP_Periph firmware standard, offloading GNSS and compass processing from the main flight controller
• Integrated compass keeps heading sensing in the same housing, avoiding a separate magnetometer module
• Eight PWM/BDShot outputs plus an RC input, hotshoe and camera trigger make it a self-contained hub for mapping and precision-control setups
• Configurable status LED gives navigation and notification signals in multiple display modes

Specifications

• GNSS chipset: u-blox NEO-F9P
• RTK support: Yes
• Compass: Integrated (RM3100)
• Constellations: GPS, GLONASS, Galileo, BeiDou, QZSS, SBAS
• Satellite bands: B1I, B2a, E1B/C, E5a, L1C/A, L1OF, L5
• Processor: STM32H757
• IMU: ICM42688
• Barometer: MS5611
• Interface: DroneCAN (CAN FD, 8 Mbit/s)
• RTK accuracy: 0.01 m + 1 ppm CEP
• RTK update rate: up to 20 Hz
• RTK convergence: under 10 s
• Size: 16 x 68 mm
• Weight: 60 g

Connects over CAN or serial to a compatible ArduPilot or PX4 flight controller; choose this module when your build needs RTK-grade positioning and heading from a single sensor rather than a basic GPS puck.