DroneCAN H-RTK F9P Helical

The Holybro DroneCAN H-RTK F9P Helical is a multi-band, high-precision GNSS positioning system developed for UAVs and other applications requiring accurate satellite-based navigation. Built around the u-blox ZED-F9P GNSS receiver, it supports multiple satellite constellations and uses RTK correction data to provide centimeter-level positioning accuracy under suitable conditions.

Its dual-band helical antenna is designed for reliable satellite signal reception and offers flexible mounting options. The module supports DroneCAN communication, allowing it to connect to compatible flight controllers through a CAN bus. It also includes a magnetometer and an additional UART2 interface for supported moving-baseline heading configurations.

The H-RTK F9P Helical can operate as an aircraft rover or be configured for base-station use. When used as a base station, RTK communication with the ground control station is handled through USB rather than the DroneCAN interface.

Features

• High-precision GNSS positioning based on the u-blox ZED-F9P receiver.

• Dual-band L1/L2 helical antenna for satellite signal reception.

• Supports GPS, GLONASS, Galileo, BeiDou, and QZSS.

• RTK positioning capability with approximately 1 cm accuracy under suitable conditions.

• DroneCAN communication at 1 Mbit/s.

• Up to 8 Hz RTK navigation update rate.

• Integrated IST8310 magnetometer in the current version; earlier versions may use BMM150.

• Exposed UART2 interface for supported moving-baseline heading applications.

• Flexible antenna installation with SMA connection.

• Compatible with supported Pixhawk-based flight controllers.

• Supports ArduPilot and PX4 configurations.

• Firmware upgrade support through the DroneCAN GUI Tool.

• Software-controlled CAN bus termination resistance.

Applications

• FPV and autonomous drone development.

• UAV precision navigation.

• RTK-based aerial surveying.

• Drone mapping and photogrammetry.

• Agricultural and industrial UAV applications.

• Autonomous flight systems.

• GPS-based heading and yaw determination.

• Robotics and positioning research.

• RTK rover and compatible base-station configurations.

How to Use

1. Mount the DroneCAN H-RTK F9P Helical module securely on the drone or compatible platform.

2. Attach the supplied helical antenna directly to the module or use a suitable SMA extension cable.

3. Connect the module to a compatible flight controller using the appropriate CAN cable.

4. Connect the module to a regulated 5V-compatible power supply within its specified voltage range.

5. Configure the CAN interface and enable the appropriate DroneCAN GPS settings in the flight controller firmware.

6. Configure the GNSS and compass settings according to the ArduPilot or PX4 documentation.

7. Provide compatible RTK correction data when centimeter-level positioning is required.

8. Verify satellite reception, GNSS status, compass orientation, and RTK fix status before flight.

Important Notes

• RTK centimeter-level accuracy requires compatible correction data from an appropriate RTK base station or correction service.

• Actual positioning performance depends on satellite visibility, antenna placement, correction quality, multipath interference, and environmental conditions.

• Use a regulated power supply within the specified 4.75V–5.25V range.

• Ensure the flight controller supports DroneCAN and the required firmware configuration.

• Configure CAN bus termination correctly for the specific CAN network.

• The module's UART2 interface is intended for supported moving-baseline heading configurations.

• When configured as a base station, RTK communication with the ground control station uses USB rather than DroneCAN.

• Keep the antenna clear of obstructions and sources of electromagnetic interference.

• Verify the magnetometer type and hardware revision before configuring compass settings.

• The helical model should not be assumed to have the same water-resistance rating as the DroneCAN F9P Rover model.

Package Includes

• 1 × Holybro DroneCAN H-RTK F9P Helical Module

• 1 × High-Precision Dual-Band Helical Antenna (L1/L2)

• 1 × GH 4-Pin Cable (400 mm)

• 1 × GH 4-Pin Cable (150 mm)

• 1 × GH 6-Pin Cable (150 mm)

• 1 × SH 10-Pin Cable (150 mm)

• 1 × USB Type-C Cable