PX4

Ensure your GPS port is configured as a general-purpose serial device or dedicated GPS port in PX4.

Set the following parameters via QGroundControl:

Parameter	Value	Description
GPS_1_CONFIG	Auto	Let PX4 auto-configure GPS
GPS_1_BAUD	115200	Match module UART baud rate
SER_GPS1_BAUD	115200	Serial baud rate for GPS
GPS_INJECT_DATA	Enabled	Allow RTCM injection
NAV_RTK_MODE	Enabled (optional)	Enable RTK mode if applicable
EKF2_AID_MASK	1 or 3	Enable GPS aiding and height fusion

PX4 auto-detects the GNSS type when connected correctly and starts publishing gps_raw_int and rtcm_in MAVLink messages.