> For the complete documentation index, see [llms.txt](https://nxp.gitbook.io/mr-b3rb/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://nxp.gitbook.io/mr-b3rb/advanced-untested-and-rough-notes/configuring-cerebri-for-mr-canhubk344-with-px4armingbrd.md).

# Configuring Cerebri for MR-CANHUBK344 With PX4ARMINGBRD

If you're integrating the Cerebri software with the MR-CANHUBK344 and you are not using a GPS, but rather the PX4ARMINGBRD you'll need to make a specific configuration adjustment to ensure proper functionality. This guide walks you through the necessary steps to modify the configuration for compatibility with your hardware setup.

Please ensure you have the following PX4ARMINGBRD:

<figure><img src="https://396338415-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU93yDWZcgjXGgsC1Duqv%2Fuploads%2Fwz2zAtsWY2eyRnRExTUX%2Fimage.png?alt=media&amp;token=0597a9b8-88a9-4a31-af0b-512fea9533bd" alt="" width="375"><figcaption></figcaption></figure>

When building the Cognipilot software for real robot operation on the MR-CANHUBK344, if you lack GPS but possess the PX4ARMINGBRD as depicted above, you must perform the following update:

#### Step 1: Update Configuration

Initially, you must update a configuration line in the [prj.conf](https://github.com/NXPHoverGames/cerebri/blob/nxp-cup/app/b3rb/prj.conf#L27) file to reflect the absence of G MAG measurement capabilities in your setup. Follow these instructions:

1. Navigate to the configuration file located at `~/cognipilot/ws/cerebri/app/b3rb/prj.conf`.
2. Locate the lines `CONFIG_CEREBRI_SENSE_MAG=y` and also the following line: `CONFIG_CEREBRI_SENSE_UBX_GNSS=y`&#x20;
3. Change this line to `CONFIG_CEREBRI_SENSE_MAG=n` and also change the following line: `CONFIG_CEREBRI_UBX_GNSS=n`
4. This adjustment disables the magnetometer and GPS feature, accommodating the hardware limitation.

#### Step 2: Apply Changes and Build

After updating the configuration, proceed with the following steps to apply the changes and build the software:

```
cd ~/cognipilot/ws/cerebri
west update
cd ~/cognipilot/ws/cerebri/app/b3rb
west build -b mr_canhubk3 -p
west flash
```

By following these steps, you configure the Cognipilot software to operate correctly with your MR-CANHUBK344 hardware without GPS.&#x20;

#### Step 3: Connecting the PX4ARMINGBRD

Get the PX4ARMINGBRD and the 10-Pin JST-GH to 10-Pin JST-GH cable that comes with it:

<figure><img src="https://396338415-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU93yDWZcgjXGgsC1Duqv%2Fuploads%2FzKOC1DIpxoiIcUA5K2tO%2FScreenshot%20from%202024-03-19%2014-08-53.png?alt=media&amp;token=fb553586-fe5a-4b3e-abee-0bf4276ccd4d" alt="" width="304"><figcaption></figcaption></figure>

And connect it to the following pin on the MR-CANHUBK344:

<figure><img src="https://396338415-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU93yDWZcgjXGgsC1Duqv%2Fuploads%2F57f4amSmp0eOjPgZRKUX%2FPX4ARMINGBRD.png?alt=media&amp;token=b9b2327d-9440-4f72-a58f-6d151b6c4f57" alt="" width="375"><figcaption></figcaption></figure>