> For the complete documentation index, see [llms.txt](https://docs.holybro.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.holybro.com/gps-and-rtk-system/f9p-h-rtk-series/standard-f9p-uart/h-rtk-with-cubepilot-controller.md).
# H-RTK with CubePilot Controller
The Standard H-RTK F9P GPS can be used with CubePilot controller by connecting to **GPS 2** port.\
\
If using Ardupilot with The Cube, set **`Serial3_Protocol` to -1** so that Ardupilot will read GPS2 port for GPS data if there is nothing connected on the GPS1 port.
{% hint style="info" %}
**Note:** GPS2 port on both Pixhawk & Cube does not support Safety Switch function. You can use an external safety switch or disable the safety switch on ground control station application.
{% endhint %}
---
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