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The GPS module is connected directly to the flight controller. To access the GPS data, you would need to use an API like dronekit or mavlink to get GPS information. We have basic documentation here regarding Python programming: https://github.com/intel-aero/meta-intel-aero/wiki/04-Autonomous-drone-programming-in-Python
You can start there then look at the mavlink or dronekit manual for additional commands/arguments.
Hope this helps.