HolyBro
Holybro DroneCAN H-RTK F9P Rover
Holybro DroneCAN H-RTK F9P Rover
Overview
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.
Specification & comparison
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Intended Application
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Rover (aircraft) only
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U-blox ZED-F9P high precision GNSS module
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| Antenna |
Ceramic Patch Antenna with 20dB LNA
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STM32G473
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BMM150
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| GNSS |
BeiDou, Galileo, GLONASS, GPS / QZSS
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B1I, B2I, E1B/C, E5b, L1C/A, L1OF, L2C, L2OF
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Positioning accuracy
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3D FIX: 1.5 m / RTK: 0.01 m
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DroneCAN 1Mbit/s
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L1: 4.0dBi
L2:1.0 dBi
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Cold start: ≤29s
Hot start: ≤1s
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RAW: 20Hz Max RTK: 8Hz Max
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Cable Length
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27cm or 50cm
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Antenna Connection Type
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N/A
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Working voltage:
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4.75V~5.25V
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Current Consumption
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~250mA
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Dimensions
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Diameter: 80mm Height: 20mm
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Weight
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123g
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Operating Temperature
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-20℃ to 85℃
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