The CubePilot Here3+ GPS is a cost-efficient GNSS system that supports RTK mode with positioning accuracy down to centimeter-level in an ideal environment. The Here3+ features high data rate, upgradeability, noise immunity, and real-time features from the DroneCAN protocol. Here3+ is now moving to DroneCAN 8Mbit bus speed and supports future firmware updates. Here 3 is equipped with the STM32F302 processor, while the Here3+ uses the dual-core STM32H757 running at 400MHz with 2MByte Flash and 1MByte RAM. The Here 3 uses ICM20948 IMU Sensor, while the Here 3+ uses ICM42688,RM3100. The Here 3+ uses DroneCAN 8Mbit/s communication protocol compared to the 1Mbit/s for the Here 3. Future updates will be available from Mission Planner. Built-in IMU (compass, gyroscope, and accelerometer) for advanced navigation needs.