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# Using Zubax GNSS with PX4 autopilots

This tutorial demonstrates how to use Zubax GNSS 2 with PX4-based flight controllers. The documentation for PX4 is available at px4.io.

## Required parts

Aside from Zubax GNSS 2 itself and the autopilot it will be connected to, the following parts will be needed:

• UAVCAN Micro patch cable (or an adapter cable, depending on the type of CAN connectors used in the autopilot hardware).
• UAVCAN Micro termination plug.

Please contact your supplier for ordering information. Alternatively, customers can choose to manufacture the needed cables/plugs on their own in order to suit some custom needs, in which case they should refer to the relevant documentation for details.

## Configuring the PX4 flight controller

Set the configuration parameter UAVCAN_ENABLE to Only Sensors (2) or Sensors and Motors (3) (or any higher value, if such available), then reboot.

Don’t forget to perform compass calibration when done. If the autopilot reports issues with high magnetic field offsets, set the parameter mag.scaling_coef on Zubax GNSS to approximately 0.6 and try calibration again

## Connecting

Since Zubax GNSS 2 can be powered directly from the bus, the electrical connections are quite simple:

1. Connect Zubax GNSS 2 with Pixhawk using the appropriate cable. In case you’re using a non-redundant CAN interface (which is the only available option for Pixhawk v1), only CAN1 must be used, leaving CAN2 empty.
2. Terminate the CAN bus using the termination plug.