CubePilot Here 3 (DroneCAN RTK GNSS)

protocol records 'DroneCAN', a value new to this category - every GNSS receiver in the corpus until now speaks UBX or NMEA over serial, while the Here series is a CAN-bus node and CubePilot states the Communication Protocol as DroneCAN. The registry's protocol field is an open FieldEnum with no Options list, so this needs no fields.go change; it is recorded as the vendor states it rather than forced into a serial vocabulary that would misdescribe the part. bands is L1 while rtk is true, and that pairing is CORRECT rather than a contradiction: the u-blox M8P-2 is a single-band RTK receiver, so centimetre RTK is achieved on L1 alone. CubePilot gives the satellite constellation as 'GPS L1C/A, GLONASS L1OF, BeiDou B1I' - three L1-family signals and no Galileo, which is why constellations omits it. update_rate_hz 8 is the stated Navigation Update Rate. weight_g 48.8 is the Here 3 column; the Here 3+ is a different part at 51.8 g on a dual-core STM32H757 running DroneCAN at 8 Mbit/s and is not recorded here. A built-in IMU provides the compass but CubePilot does not name the magnetometer chip, so magnetometer_chip is absent rather than guessed. Listed on the DIU capture as 'Here 3', Date Added 1/29/2024. power_draw_w is a DOCUMENTED ABSENCE, not an open gap: CubePilot publishes only the power PINOUT - the 5 V rail the part is fed on - and never a consumption figure, on the module page, in the manual, or in ArduPilot's overview. What a board is SUPPLIED is not what it DRAWS, and no retailer checked publishes a draw either.

CubePilot Here-series GNSS module; specifications from CubePilot's own manual.