Here 3+ Compatibility with Jetson Nano?

Here GPS
1

Hello CubePilot Community,

I’m currently trying to build an autonomous robot with the NVIDIA Jetson Nano as its main computer.

The crucial part of my setup is the GNSS module, and I have my eyes set on the Here 3+. Although it is traditionally used in drone setups, the high-precision RTK capability of the Here 3+ caught my attention, and I believe it would be perfect for my project.

I was just wondering if it was possible to interface the Here 3+ with the Jetson Nano and if anyone had experience in integrating the Here 3+ with the Jetson Nano?

Thanks so much for all your help!

2

Hello @Eli_Peter , I was wondering if you ever figured this out? Unless I am looking incorrectly, it does not appear as though anyone ever responded. I am wanting to do something very similar; that is, I want to connect a Here3 (but not plus) to a Jetson Orin NX to see if I can use the GPS as a time source with chrony and forward GPS data over GPSD.

I have connected my Here3 to the CAN bus on the Jetson and, when I power the Jetson on, the lights flash on the Here3 but I am not able to see any traffic on the CAN bus at all (i.e., using candump, etc.).

Does anyone else know anything about how this might be done?

Thanks!

3

Convert Here3+ from CAN to UART Mode

By default, Here3+ operates in CAN mode.

To switch to UART:

Connect it to Pixhawk or a PC via USB-C.

Use Mission Planner → Setup → UAVCAN Parameters

Disable UAVCAN (set to 0) to activate UART.

Power-cycle the GPS module