# Pixhawk here 4 gnss with esp32

**URL:** <https://discuss.cubepilot.org/t/pixhawk-here-4-gnss-with-esp32/14390>\
**Category:** Here GPS\
**Created:** [11 November 2024 12:28 UTC](https://discuss.cubepilot.org/t/pixhawk-here-4-gnss-with-esp32/14390 "2024-11-11T12:28:32Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![Şeyma\_Yılmaz](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/%C5%9Feyma_y%C4%B1lmaz/32/8429_2.png) [@Şeyma\_Yılmaz](https://discuss.cubepilot.org/u/%C5%9Eeyma_Y%C4%B1lmaz)\
**Post date:** [11 November 2024 12:28 UTC](https://discuss.cubepilot.org/t/pixhawk-here-4-gnss-with-esp32/14390/1 "2024-11-11T12:28:32Z")

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I want to use PİxHawk here 4 gnss module in my own design flight control card with esp32. Can I use it like this, and which data’s I can get with rx tx communication.

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**Author:** ![Gary\_Mortimer](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/gary_mortimer/32/1439_2.png) [@Gary\_Mortimer](https://discuss.cubepilot.org/u/Gary_Mortimer)\
**Post date:** [11 November 2024 18:08 UTC](https://discuss.cubepilot.org/t/pixhawk-here-4-gnss-with-esp32/14390/2 "2024-11-11T18:08:35Z")

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I think you mean Here 4 GPS, this is the manual [Here 4 Manual | CubePilot](https://docs.cubepilot.org/user-guides/here-4/here-4-manual)

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**Author:** ![Şeyma\_Yılmaz](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/%C5%9Feyma_y%C4%B1lmaz/32/8429_2.png) [@Şeyma\_Yılmaz](https://discuss.cubepilot.org/u/%C5%9Eeyma_Y%C4%B1lmaz)\
**Post date:** [13 November 2024 10:15 UTC](https://discuss.cubepilot.org/t/pixhawk-here-4-gnss-with-esp32/14390/3 "2024-11-13T10:15:58Z")

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yeah, i was wondering if i can get the IMU and compass sensors data from the esp32 as well, the manual doesn’t say anything about that.

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**Author:** ![Gary\_Mortimer](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/gary_mortimer/32/1439_2.png) [@Gary\_Mortimer](https://discuss.cubepilot.org/u/Gary_Mortimer)\
**Post date:** [15 November 2024 09:08 UTC](https://discuss.cubepilot.org/t/pixhawk-here-4-gnss-with-esp32/14390/4 "2024-11-15T09:08:39Z")

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That’s one for @philip

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**Author:** ![sidbh](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/sidbh/32/7358_2.png) [@sidbh](https://discuss.cubepilot.org/u/sidbh)\
**Post date:** [18 November 2024 03:54 UTC](https://discuss.cubepilot.org/t/pixhawk-here-4-gnss-with-esp32/14390/5 "2024-11-18T03:54:10Z")

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For this you need support for DroneCAN protocol into ESP32, it has been done in the past. But integrating that will be a development effort. The starting point for this would be to compile in this library [GitHub - dronecan/dronecan\_dsdlc](https://github.com/Dronecan/dronecan_dsdlc/) There is a C++ api under canard.