Is it possible to read gps coordinates from the here4 on an esp32?

Cube Autopilot
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I started a project that sets out to create an optical beacon tracker. It will have a transmitter a receiver side. The transmitter side with have a LED array and a single laser diode. The receiver side will intercept this signal with a quadro-photodiode to determine a more precise location. The QPD is quite small so initially the receiver will use gps coordinates to find the general location of the transmitter. Once the location is found, the QPD attached to a gimbal will move to said location. The transmitter will also have GPS and a gimbal that have the same function as the transmitter side.

I am working on this project with a friend who has two cube orange standard set, two here 4 gps modules and antennas, and the associated telemetry modules that are part of the ecosystem. I am not that experienced in coding and neither is he. I was wondering if it’s feasible to somehow get the gps coordinates and use them in a tracking algorithm on an esp32. If so how should we go about this?

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Hi!
You can receive data from GPS via uart of your flight controller. If you want to do it - I send you a link describing how to do it. I did it a few months ago for arduino 2560, I use an additional library for my sketch. I got gps, battery level and height above earth from lidar

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That link would be fantastic.

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----- MAVLink and Arduino: step by step - Blog - ArduPilot Discourse ------

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I think it will help you to do what you want

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Also a note, it is possible to load Ardupilot firmware straight onto Here4 and run full flight code. Please check this link Here 4 Manual | CubePilot . That way Here4 can effectively fill the role of GPS and Pixhawk marked in @Александр_Шунин 's description.

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Yes, you are right.
But the goal is to receive the data of GPS - coord. And, as I think there is no difference which FC we use - orange cube or Here 4 as a FC.
May be I don’t understand, and there is the way to get GPS data from HERE 4 via UART? I will be appreciated for advice