Holybro DroneCAN H-RTK F9P Helical

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, and 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 ZED-F9P module, an IST8310 (legacy: 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 upgrades via the DroneCAN GUI Tool. It is compatible with the open-source Pixhawk series flight controller.

Package Includes:

1x DroneCAN Module 

1x Antenna

Specification & comparison:

	DroneCAN H-RTK F9P Rover	DroneCAN H-RTK F9P Helical (This Model)
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 or IST8310	BMM150 or IST8310 (current)
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℃