The DroneCAN H-RTK F9P is the latest differential high-precision GNSS positioning system from Holybro. It has adopted the DroneCAN protocol for communication. It provides multi-band RTK with fast convergence times and reliable performance, concurrent reception of GPS, GLONASS, Galileo and BeiDou, and a fast update rate for highly dynamic and high volume applications with centimeter-accuracy.
With the adoption of the DroneCAN Protocol, it has up to an 8 Hz navigation update rate, upgradeability, noise immunity, real-time features, and is more robust than UART due to its increased resistance to electromagnetic interference. It does not occupy any serial port of the flight controller, and multiple CAN devices can be connected to the same CAN bus via a hub.
The DroneCAN-F9P uses a u-blox F9P module, a BMM150 compass, and a tri-colored LED indicator, and is equipped with the STM32G4 processor running at 170 MHz with 512 KByte Flash and 96KByte RAM. It supports DroneCAN firmware upgrade via the DroneCAN GUI Tool. It is compatible with the open source Pixhawk series flight controller.
Main Features:
Holybro have designed two models of DroneCAN H-RTK F9P for you to choose, each with different size and antenna design to meet different customer needs.
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DroneCAN F9P Rover
The Rover model has a flatter profile and stronger water resistance. It uses a dual band patch antenna and comes with an integrated cable to connect to the CAN bus. It excels in spaces where there are few obstructions.
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DroneCAN F9P Helical
This model uses a helical antenna, which has slightly better performance in space with obstructions than the Rover version. The antenna of this module can either be attached to the module directly or connected via a SMA cable, giving you the ultimate flexibility. It also has a UART2 port exposed, allowing you to do YAW/Heading (aka moving baseline).
This model can be used either on the rover (aircraft) or as a base station. However, when used as Base Station, RTK communicate with the Ground Control Station via USB, so the DroneCAN protocol is not used. You can consider using the standard H-RTK F9P Helical or Base for your Base Station. |
Specification & comparison
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DroneCAN H-RTK F9P Rover
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DroneCAN H-RTK F9P Helical
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| Intended Application |
Rover (aircraft) only |
Rover (aircraft) or Base station |
| GNSS Receiver |
U-blox ZED-F9P high precision GNSS module |
U-blox ZED-F9P high precision GNSS module |
| Antenna |
Ceramic Patch Antenna with 20dB LNA |
Helical Antenna with 36dB LNA |
| Processor |
STM32G473 |
STM32G473 |
| Magnetometer |
BMM150 |
BMM150 |
| GNSS |
BeiDou, Galileo, GLONASS, GPS / QZSS |
BeiDou, Galileo, GLONASS, GPS / QZSS |
| GNSS Band |
B1I, B2I, E1B/C, E5b, L1C/A, L1OF, L2C, L2OF |
B1I, B2I, E1B/C, E5b, L1C/A, L1OF, L2C, L2OF |
| Positioning accuracy |
3D FIX: 1.5 m / RTK: 0.01 m |
3D FIX: 1.5 m / RTK: 0.01 m |
| Communication Protocol |
DroneCAN 1Mbit/s |
DroneCAN 1Mbit/s |
| Antennas Peak Gain (MAX) |
L1: 4.0dBi
L2:1.0 dBi |
L1: 2dBi
L2: 2dBi |
| Time-TO-First Fix |
Cold start: ≤29s
Hot start: ≤1s |
Cold start: ≤25s Hot start: ≤1s |
| Navigation Update Rate |
RAW: 20Hz Max RTK: 8Hz Max |
RAW: 20Hz Max RTK: 8Hz Max
Moving Base RTK: 5Hz Max |
| Cable Length |
27cm or 50cm |
N/A |
| Antenna Connection Type |
N/A |
Board: SMA female Antenna: SMA male |
| Working voltage: |
4.75V~5.25V |
4.75V~5.25V |
| Current Consumption |
~250mA |
~250mA |
| Dimensions |
Diameter: 80mm Height: 20mm |
Board: 51.1*35*22.9mm Antenna Diameter: 27.5mm Antenna height: 59mm |
| Weight |
123g |
58g |
| Operating Temperature |
-20℃ to 85℃ |
-20℃ to 85℃ |
1x Holybro DroneCAN F9P Rover
1x Fixed Carbon Fiber GPS mount
Helical Package Included:
1x Holybro DroneCAN F9P Helical
1x High Precision GNSS Antenna
1x GH 4P cable 400mm
1x GH 4P cable 150mm
1x GH 6P cable 150mm
1x SH 8P cable 150mm
1x USB (type-c) cable
