# Supported Firmware

## PX4

* Supported in Stable 1.14.0 and later

## Ardupilot

* Supported in Ardupilot
* **Note:** Dual-antenna heading is only supported in Ardupilot latest FW or 4.5.0 and later.

## Mission Planner

* Supported as Rover (Aircraft) unit  & Base station

## QGC

* Support when using as Rover (Aircraft) unit
* QGC currently does not support mosiac-H to be used as base station because it cannot recognize the RTCM data stream of Mosaic-H GPS at this moment. Support is coming soon.