The Cube Black Standard Set & Here+ V2 RTK GNSS Combo

The Cube Black Standard Set & Here+ V2 RTK GNSS Combo

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  • Model: PIXHAWK_HERE+_V2_GNSS_RTK_COMBO (42534)

Combo: The Cube (Pixhawk 2.1) standard flight controller & Here+ V2 RTK GNSS kit (base + rover)


The CUBE (Pixhawk 2.1)

Announcement: For ArduCopter users, it is necessary to run at least ArduCopter 3.6.11 and to use the parameters from SB2 (see below).

The Pixhawk 2 is the famous and successful latest version of the world famous controller developped in the PX4 open source project. It benefits from numerous improvements which ensure its position of the current most advanced electronics available.

More than a simple flight controller, Pixhawk 2 is a solution suitable for countless unmanned systems including multirotor drones, planes, helicopters, VTOL aircrafts, boats, cars, uboats, etc.


The most important improvements of this second Pixhawk version can be found in the CUBE.

Indeed, it embeds quality technological modules offering several features like a high performance IMU. The CUBE embeds a triple redundant IMU that is isolated, dampened and includes a heating system. Thanks to that, the Pixhawk 2 is a controller suitable for operations below freezing point.

In addition to that, the CUBE is connected to the carrier board with just a DF17 connector. This means it is a modular system.

Key features

  • CUBE modular design
  • dampened and isolated IMU
  • triple redundant IMU
  • Suitable for numerous platforms
  • CM precision GPS
  • Multiple GPS
  • Open source development



Here+ V2 RTK GNSS (M8P) module is the perfect fit for the Pixhawk 2. It was specifically designed and built to work with this world leading open source flight controller.

Indeed, it provides a centimetric-level positioning information by allowing multiple GNSS reception of the most popular and efficient current systems, including brand new ones (GPS, GLONASS, BeiDou and Galileo). Thanks to that, you benefit from the maximum satellite reception at all dense with this dense covering.

The HERE+ RTK GNSS module is a complete, compact and low-consumption system.

Upgrades brought to V2

  • New processor allowing to perform updates and to have user defined features thanks to ChibiOS operating system and its open architecture;
  • Possibility to communicate via CAN or I2C thanks to the mechanical internal switch;
  • Complete IMU integrated having an accelerometer, a gyro and a compass;
  • Customize LEDs displays depending on the flight status;
  • Integrated barometer to increase accuracy of barometric measures of airtight frames.

Technical specifications

Pixhawk 2.1 standard

  • IMU:
    • 3 x accelerometers
    • 3 x gyroscopes
    • 3 x magnetometers
    • 2 x barometers
  • IMU dampened and isolated
  • IMU temperature controlled
  • SD card slot
  • micro-USB interface
    • Connectivity:
      • 5 x serial ports
      • 2 x CAN ports
      • 2 x I2C ports
      • 2 x power ports
      • 1 x ADC port
      • 8 x dedicated opto capable PWM out
      • 6 x GPIO that can also be used for PWM
      • Dedicated Spektrum RX port
      • S.BUS in and out, PPM in




  • Receiver: 72 channels u-blox M8P (GPS L2C/A, GLONASS L1OF, BeiDou B1l)
  • Processor: STM32F302
  • IMU: ICM20948
  • Barometer: MS5611
  • Navigation update rate: RTK up to 8Hz
  • Positionning accuracy: RTK Fix - 0.025m + 1 ppm CEP
  • Time to first fix: 26 sec (cold start) / 2 sec (aided) / 1 sec (reacquisition)
  • RTC crystal
  • Communication: UART / I2C / CAN
  • Protocols: NMEA, UBX binary, RTCM version 3.x
  • Connectors: JST-GH
  • Operating temperature: -40°C à 85°C
  • Dimension: 67 x 17 mm (ø x h)
  • Weight: 50 gr

Scope of delivery

  • 1 x "Cube" (head)
  • 1 x Carrier board (body)
  • 1 x Power brick mini
  • 1 x SD card (inside the Cube)
  • 1 x Buzzer
  • 1 x I2C splitter
  • 1 x Safety switch
  • 1 x Power cable
  • 1 x GPS1 cable (to DF13)
  • 1 x Telemetrie 1 cable (to DF13)
  • 1 x Telemetrie 2 cable (to DF13)
  • 1 x User manual
  • 1 x HERE+ V2 GNSS RTK module
  • 1 x cable for GPS port 1 connection (Pixhawk 2)
  • 1 x HERE+ V2 RTK base
  • 1 x USB connector for RTK base



Announcement: For ArduCopter users, it is necessary to run at least ArduCopter 3.6.11 and to use the parameters from SB2:

  • BRD_TYPE == 3
  • EK2_IMU_MASK == 7 (or EK3_IMU_MASK == 7 if EKF3 is used)
  • INS_USE == 1
  • INS_USE2 == 1
  • INS_USE3 == 1