CubePilot Here 4 (dual-band 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 uses the registry's existing 'L1+L5/L2' value for a dual-band receiver: CubePilot lists the satellite bands as 'B1I, B2a, E1B/C, E5a, L1C/A, L1OF, L5', i.e. L1 plus L5, and the house vocabulary carries no L1+L5-only value. The GNSS module is a u-blox NEO-F9P. update_rate_hz 20 is the stated RTK navigation update rate ('up to 20 Hz'). weight_g 60 is stated WITH CABLE, the only figure CubePilot publishes. Supported data protocols are NMEA, UBX binary, RTCM 3.3 and SPARTN 2.0.1, but the link to the flight controller is DroneCAN 8 Mbit/s, which is what protocol records. Size 16 x 68 mm; the dual-band antenna is made by Taoglas. It also exposes 8 PWM/BDSHOT outputs, an RCIN and a camera trigger when used with a breakout board - that flight-controller mode is not modelled here, where the part is catalogued as the GNSS receiver it is fitted as. Listed on the DIU capture as 'Here 4', 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.