> For the complete documentation index, see [llms.txt](https://docs.premium-positioning.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.premium-positioning.com/guides/ardupilot-px4-drone.md). # ArduPilot / PX4 drone These steps connect an ArduPilot / PX4 drone (Here3 / H-RTK) to the Premium Positioning correction network over NTRIP, using Mission Planner / QGroundControl. They assume you already have your NTRIP credentials. ### Before you start * Your NTRIP username and password, from your Premium Positioning welcome email or your account on the customer portal. * Mission Planner / QGroundControl. * A working internet connection on the controller or phone. * A clear view of the sky at the point you are measuring. ### Network settings These are the same for every Premium Positioning customer. Only your username and password are unique to you. * Server or host: rtkpremium.xyz * Port: 2101 * Mountpoint: COMMON * Protocol: NTRIP ### Steps 1. Have your details ready: You'll need the Premium Positioning NTRIP login from your welcome email (your own username and password) and the fixed caster settings used by every customer: Host rtkpremium.xyz, Port 2101, Mountpoint COMMON, Protocol NTRIP. Never share these or enter someone else's. 2. Confirm your hardware is wired and detected: Make sure your RTK GNSS receiver (e.g. Here3, H-RTK, or another u-blox/Unicore unit) is connected to the autopilot (Pixhawk/Cube) and the autopilot is powered. Corrections do not go straight into the GPS over the internet - they travel from your ground station, over the telemetry link, into the autopilot, which forwards them to the GPS. 3. Connect the ground station to the vehicle: Power on the drone/rover and connect your GCS (Mission Planner or QGroundControl) over USB or telemetry radio. Wait for live telemetry and at least a normal 3D fix before adding corrections. Your laptop/tablet also needs internet, since corrections are pulled from the caster. 4. Mission Planner - open the NTRIP injector: In Mission Planner go to SETUP (Initial Setup on some versions) > Optional Hardware > RTK/GPS Inject - the screen that pulls corrections from the caster and injects them into the autopilot over the MAVLink/telemetry link. 5. Mission Planner - choose NTRIP: On RTK/GPS Inject, select NTRIP from the connection-type dropdown (Serial/SerialPort options are for a local base and not used here). 6. Mission Planner - enter the caster and your login: Many versions accept the combined form user:pass\@host:port/mountpoint - e.g. YOURUSERNAME::2101/COMMON - using your own NTRIP username/password from the welcome email. If your version shows separate boxes, enter Host/Caster rtkpremium.xyz, Port 2101, Mountpoint COMMON, and your username/password. Then press Connect. 7. Mission Planner - confirm corrections are flowing: The RTK/GPS Inject window shows GPS signal status, the RTCM messages being sent, and a byte/message counter that should keep climbing. A 'Bad ntrip Response' or similar error means a wrong host/port/mountpoint or credentials - re-check them. 8. QGroundControl - open the NTRIP/RTK settings: Alternative to Mission Planner: in QGroundControl open Application Settings (gear icon) > General and find the NTRIP / RTK section (built-in NTRIP client). Section placement varies slightly by version. 9. QGroundControl - enter the server, port and credentials: Enter Host/server rtkpremium.xyz, Port 2101, and your own Username/Password from the welcome email. Leave the TLS/encryption toggle off unless support tells you otherwise. 10. QGroundControl - set the mountpoint: Set the Mount Point to COMMON. If a Browse button is shown, use it to fetch the mountpoint list and pick COMMON. Leave any RTCM message filter at its default. 11. QGroundControl - connect and verify the stream: Save/connect the NTRIP client. QGroundControl shows the connection state with message/byte counters and a data rate - these should increase once corrections flow. 12. Watch the GPS status climb to RTK: With corrections flowing, watch the GPS status on the GCS HUD/map: a normal 3D fix, then RTK Float as corrections take effect. 13. Confirm RTK Fixed: Within \~30 s to a few minutes (open sky helps), the status advances to RTK Fixed - in ArduPilot this is GPS fix type 6, the highest-accuracy cm-level solution. The HUD/GPS indicator reading 'RTK Fixed' (or '3D RTK') confirms setup is complete. ### If the fix will not hold Keep the ground station connected to both the vehicle and the internet while flying - corrections are relayed live from the caster through the GCS and over the telemetry link to the autopilot. Menu/field labels differ slightly between Mission Planner / QGroundControl versions. Mission Planner's built-in NTRIP client does not support TLS, so connect over the plain NTRIP port (2101). RTK Float = receiving but not locked; RTK Fixed (fix type 6) is the goal. For more, see RTK corrections troubleshooting and Fix inconsistent RTK accuracy on site. ### Need help Support is available 24/7. Include your receiver model, the mountpoint, the solution status, and the correction age when you get in touch.