Best Practices for Setting Up Here3 GNSS with Cube Orange+!

1

Hi everyone,

I’m currently setting up my Cube Orange+ with the Here3 GNSS module and wanted to get some feedback from the community on best practices. I’ve gone through the basic wiring guide and confirmed CAN connection is active, but I’m seeing inconsistent GPS lock times — sometimes fast, sometimes over a minute.

A few quick questions:

Are there any known firmware versions that work best for Here3 with Cube Orange+?

Is there an ideal mounting configuration or placement that helps improve lock consistency?

I’m also considering enabling RTK later — any tips on setting up the base station side?

I’ve flown smaller PX4-based quads before, but this is my first build with the Cube ecosystem. I really want to make sure I’m setting this up the right way from the start.

Any tips or experiences shared would be hugely appreciated! I have already gone through this thread https://discuss.cubepilot.org/t/here3-gps-and-cube-orange-connection-cyber-security-course-in-pune but couldn’t get enough help.

Thanks in advance,

Daniel Jose

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Use the flight controller firmware, either Ardupilot (GPS1_GNSS_MODE) or PX4 (GPS_1_GNSS), to select just the required constellations that work best in your area. Generally GPS and Galileo is best. Only select SBAS if there is actually SBAS available.
Selecting more constellations is usually counter-productive, with more sats and varying quality than the GNSS chipset can handle.
Use whichever combination gives you the lowest/consistent HDOP in the shortest amount of time.

In a log you would look for a GNSS update rate (GPA.Delta) of 200ms

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