Hi all — we’re **UAV GNSS** (uav-gnss.com), building ready-to-use receivers around **Septentrio mosaic modules**. Since many ArduPilot users run Septentrio receivers (fully supported as GPS_TYPE 9), I wanted to share a practical setup guide and the anti-jamming angle, in case it’s useful.
**Quick setup (Pixhawk + Septentrio)**
- Wire Septentrio COM2 TX/RX to the Pixhawk GPS1 port (5V/GND)
- Set baud rate 115200 on both sides
- Parameters: GPS_TYPE=9 (Septentrio), GPS_BAUD_RATE=9 (115200), GPS_RATE_MS=100
- Verify 3D fix with >16 satellites
**Why anti-jamming matters for drones**
GNSS signals arrive at roughly 20 W light-bulb power from 20,000 km. Near 4G/5G towers, power lines, or co-located radios, a standard receiver loses RTK fix or drifts to meter level. Septentrio’s AIM+ gives roughly 60 dB of interference mitigation vs ~25 dB typical of consumer modules — the difference between holding centimeter-level RTK or losing it mid-flight.
**Dual-antenna heading**
The mosaic-X5 P3H / mosaic-G5 P3H variants give dual-antenna heading and pitch/roll over the same GPS serial port — no separate IMU/compass needed, which some builders like for redundancy or payloads where a magnetometer is unreliable.
**Integration guide (open source)**
We published a full wiring + parameter guide with an SBF parser script on GitHub: GitHub - uavgnss6-bot/septentrio-gnss-integration-guide: Septentrio GNSS receiver integration guide for ArduPilot and PX4 — wiring, configuration, RTK setup, and SBF data parsing. · GitHub . Receiver lineup: UAV GNSS Receivers for Drone Mapping & Survey | Septentrio mosaic-G5 and X5
Happy to answer technical questions here. If anyone else runs Septentrio with ArduPilot, curious what your experience has been.