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Home >  Civilian UAV/Drone Accessories >  Holybro Parts > Holybro DroneCAN H-RTK F9P Rover

Holybro DroneCAN H-RTK F9P Rover (Global Warehouse)

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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.

      Features

      We 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. 

      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.

      You can find purchase link for this product here
      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).

      You can find the purchase link of this product 
      here

      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


      DroneCAN H-RTK F9P Rover
      DroneCAN H-RTK F9P Helical

      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?

      Sample Wiring Diagram

      For other technical details and user guide, please see the documentation Page here.

      Reference Links

      • RTK Testing & Comparison by Andrew Tridgell (Ardupilot)
      • User Guide: Setup & Getting started (Ardupilot)
      • User Guide: Setup & Getting started (PX4)
      • H-RTK Pinout
      • Dimensions
      • Downloads

      Package Included:

      • 1x DroneCAN F9P Rover
      • 1x Fixed Carbon Fiber GPS mount



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