Holybro DroneCAN H-RTK F9P Helical GNSS Module

The Holybro DroneCAN H-RTK F9P Helical is a multi-band RTK GNSS module built on the u-blox ZED-F9P, giving Pixhawk-based aircraft centimetre-level positioning over DroneCAN. It works as an aircraft rover or as a ground base station.

Key features

• u-blox ZED-F9P tracks GPS/QZSS, GLONASS, Galileo and BeiDou on two bands each for 0.01 m RTK accuracy
• DroneCAN at 1 Mbit/s uses no flight controller serial port, and more CAN devices can share the bus through a hub
• RTK updates up to 8 Hz, raw data up to 20 Hz and moving-base RTK up to 5 Hz
• Helical antenna with a 36 dB LNA and 2 dBi peak gain on L1 and L2, connected by SMA
• Onboard compass and tri-colour status LED; the LED needs PX4 1.14 or ArduPilot 4.4.4 and later
• Firmware updates through the DroneCAN GUI Tool

Specifications

• GNSS receiver: u-blox ZED-F9P
• Bands: B1I, B2I, E1B/C, E5b, L1C/A, L1OF, L2C, L2OF
• Accuracy: 1.5 m 3D fix, 0.01 m RTK
• Update rate: raw 20 Hz, RTK 8 Hz, moving-base RTK 5 Hz
• Time to first fix: 25 s or less cold, 1 s hot
• Interface: DroneCAN, 1 Mbit/s
• Antenna: helical, 36 dB LNA, 2 dBi peak gain
• Antenna connector: SMA (female on board, male on antenna)
• Power: 4.75-5.25 V, about 250 mA
• Board size: 51.1 x 35 mm
• Antenna size: 27.5 mm diameter, 59 mm tall
• Weight: 58 g
• Operating temperature: -20 to 85 deg C

Holybro also makes a Rover version with a flatter patch antenna for open-sky use; pick the Helical where reception margin matters more than a low profile. Ships with the antenna and JST-GH connection cables.