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Holybro’s DroneCAN H-RTK F9P ensures centimeter-level GNSS precision with multi-band RTK, fast convergence, and DroneCAN communication. It’s compatible with Pixhawk controllers and can function as a rover or base station. Ideal for challenging environments, it offers helical antennas for obstruction tolerance.


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 H-RTK 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 upgrades via the DroneCAN GUI Tool. It is compatible with the open-source Pixhawk series flight controller.


DroneCAN H-RTK 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).


This model can be used either on the rover (aircraft) or as a base station. However, when used as a Base Station, RTK communicates 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.



Intended Application
Rover (aircraft) or Base station
GNSS Receiver
U-blox ZED-F9P high precision GNSS module
Helical Antenna with 36dB LNA
BeiDou, Galileo, GLONASS, GPS / QZSS
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: 2dBi
L2: 2dBi
Time-TO-First Fix
Cold start: ≤25s Hot start: ≤1s
Navigation Update Rate
RAW: 20Hz Max RTK: 8Hz Max
Moving Base RTK: 5Hz Max
Cable Length
Antenna Connection Type
Board: SMA female Antenna: SMA male
Working voltage:
Current Consumption
Board: 51.1*35*22.9mm Antenna Diameter: 27.5mm Antenna height: 59mm
Operating Temperature
-20℃ to 85℃


Sample Wiring Diagram


For other technical details and a 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

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