Tutorial: Connecting other GPS modules to ArduPilot

Although we recommend the uBlox GPS module and adapter we sell in the DIY Drones store, which is solid and easy to set up, ArduPilot can support any GPS module in NMEA mode. The tricky bit, however, is usually the connector and programming it to the right baud rate and other settings. Although every GPS module is different, here's a tutorial for two common ones that may help you with others.

First, here are the pinouts for the EM406 connector that we use (pins 5 and 6 are not used):

Option One: Locosys 20031

One excellent module is the Locosys 20031 that's sold by Sparkfun (it's also the module used by AttoPilot). To connect it to ArduPilot, solder wires to the pads on the board as shown here:

Once you've got it soldered up, you need to program it for the right baud rate and 5Hz update rate. The best way to do that is to get a GPS adapter from the DIY Drones store and solder on a four pin header on the spare pins. Then connect them to your FTDI cable with jumper wires and another header, as shown here:

Now plug the Locosys into the GPS adapter and follow this tutorial to reprogram it.

In the ArduPilot code, you'll need to change the configuration file to tell it that you're using the Locosys. Change this line to 0, as shown:

//0-3
#define GPS_PROTOCOL 0 // 0 = NMEA, 1=SIRF, 2=uBlox, 3 = ArduIMU, 5 = Simulated GPS mode (Debug)

Option Two: Paparazzi GPS module

Another GPS module you can use is the Paparazzi one (which is also a Ublox 5). Here's how to connect it:

Once you're done, use the same adapter board connection shown above and follow this tutorial to reprogram it for ArduPilot.

You can leave the ArduPilot configuration file in its default setting of 2:

//0-3
#define GPS_PROTOCOL 2 // 0 = NMEA, 1=SIRF, 2=uBlox, 3 = ArduIMU, 5 = Simulated GPS mode (Debug)

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Comments

Ragnar Myhre August 14, 2014 at 6:11am

Sorry!!

Made a mistake here. The connectors are not Hirose DF13. (I ordered some and they don't fit perfectly.)

I have looked into it further and it seems that the connectors are Molex Picoblade. I have orderes these now and will confirm when I receive them.
Ragnar Myhre August 9, 2014 at 11:12am

Here are the Hirose DF13 plugs for APM and PixHawk. As you see it's just the ground pin that is different. You can buy the housing at DX.
Napoleon July 22, 2014 at 7:59am

very old post

however

can anybody define the nmea sentences that the arduplane needs to have from the gps receiver? i am going to use a ''4th party'' receiver (none of the above) and i have to configure the nmea output throught plenty of available nmea sentences.

thank you
Markus Horeld February 23, 2013 at 12:06am

Hi Jeff, very cool, thank you very much!
Markus Horeld February 18, 2013 at 12:26pm

Does anyone know the pinout of the "New Style GPS port" on APM 2.5? It has 5 pins instead of 6...
AVS December 12, 2010 at 5:10am

I think the pins match the original cable order. so you can either solder pins into the holes and then solder the gps cable wire to the pins or you can solder the cable directly to the pin holes.

or you can buy the ublox adapter from diyD store which I think gives a set of matching pins and an alternative socket
michael dunston December 11, 2010 at 6:26pm

yes i see them but what cable go where exactly.. ?>

how can i connect the gps to it.
AVS December 11, 2010 at 4:28am

there will be 4 pin holes immediately behind the plug that you can use instead?
michael dunston December 10, 2010 at 6:05pm

i broke the gps plug on the arupilot can i plug it to the other gps 4 pin input? if yes how?
3D Robotics

Chris Anderson April 27, 2010 at 11:07am

@TimL. It's actually a supercap, but it does the same thing.

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