Holybro DroneCAN H-RTK F9P Helical (based on NXP S32K1)

Overview
The DroneCAN H-RTK F9P (NXP S32K1) 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.

This S32K1 Based DroneCAN-F9P uses a u-blox F9P module, a BMM150 compass, and a tri-colored LED indicator, and is equipped with the NXP S32K14 processor with 1MB Flash and 128 KB RAM. It is compatible with the open source Pixhawk series flight controller with both PX4 and Ardupilot. This S32K1 version uses PX4 CAN Node Firmware, and supports PX4 Dronecan Firmware Updating.

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.

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).

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 or IST8310 / BMM150 or IST8310

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 / L1: 2dBi
L2:1.0 dBi / L2: 2dBi

Time-TO-First Fix:
Cold start: ≤29s / Cold start: 25s Hot start: ≤1s
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: -20C to 85C / -20C to 85C

Package Included:
• 1x DroneCAN H-RTK F9P Helical (based on NXP S32K1)
• 1x High Precision Dual Band Helical Antenna (L1/L2)
• 1x GH 4P cable 400mm
• 1x GH 4P cable 150mm
• 1x GH 6P cable 150mm
• 1x GH 7P cable 150mm
• 1x SH 6P cable 150mm
• 1x USB (type-c) cable