# 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. --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://docs.holybro.com/gps-and-rtk-system/h-rtk-mosaic-h/supported-firmware.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.