> 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/h-rtk-mosaic-h/setup-and-getting-started-px4.md).

# Setup & Getting Started (PX4)

## Use as Rover (Aircraft) Station

{% hint style="warning" %}
For PX4 v1.15 and later, the guide below does not apply, please visit the PX4 documentation site for the setup guide:

<https://docs.px4.io/main/en/gps_compass/septentrio.html>
{% endhint %}

You only need to set the following parameters:

* GPS\_1\_CONFIG: GPS1 (default to GPS1)
* GPS\_1\_GNSS: 31
* GPS\_1\_PROTOCOL: SBF
* SER\_GPS1\_BAUD: 115200 8N1
* EKF2\_GPS\_CTRL: Bit 3 Dual antenna heading (if the Heading function is not required, this bit does not need to be set)
* GPS\_PITCH\_OFFSET: set according to your setup
* GPS\_YAW\_OFFSET: set according to your setup

<figure><img src="https://2367252986-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FLIgtGDAvVGkCKGOJb1bR%2Fuploads%2FCQPJWXktu1VbfJX04soh%2F0.png?alt=media" alt=""><figcaption></figcaption></figure>

To check for heading MAVlink Console :

"listener estimator\_status\_flags " command, Then check the content displayed by cs\_gps\_yaw . True means that Heading has been enabled , False means that Heading has not been enabled .

### GNSS Data Filtering

Set the following parameters to decrease drifting caused by fluctuation from the GNSS reading

* EKF2\_GPS\_P\_NOISE = 1
* EKF2\_GPS\_V\_NOISE = 0.6

## Use as Base Station

{% hint style="warning" %}
The QGC ground station currently cannot recognize the RTCM data stream of Mosaic-H GPS at this moment, therefore QGC does not support the use of this GPS as Basestation.
{% endhint %}


---

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