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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

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

Sample Wiring Diagram