SKU: 4852921372

HolyBro DroneCAN H-RTK F9P Helical

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Description

HolyBro DroneCAN H-RTK F9P HelicalOverview 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

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 ZED-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.

RTK Testing & Comparison: Big GPS Round Up by Andrew Tridgell (Ardupilot)

Please Note: 

  • The Status LED driver has changed. This LED is support in PX4 1.14, ArduPilot 4.4.4 & later. (More info)

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
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

Package Included:

  • 1x DroneCAN F9P Helical
  • 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 SH 10P cable 150mm
  • 1x USB (type-c) cable
Shipping Notes
  • Free Standard Shipping on $100+ Orders to the USA.
  • Except Preorder products are shipped in 48 hours.
  • Delivery to the USA:
  1. Standard Shipping : 3-10 business days
  • If time is of the essence, please consider selecting expedited delivery for faster service.
Exchange/Return Notes
  • We offer a 30-day return/exchange service after receiving.
  • Final sale items are not eligible for returns or exchanges.
  • To process your return/exchange, please contact us at [email protected]
  • Please click here for more details>>> Return & Exchange Policy
SKU: 4852921372

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4.3 ★★★★★
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B
Verified Purchase
B. Stubby
Phoenix, US
★★★★★ 3
A familiar story, just with…..less.
Format: Kindle
So, as other reviewers make clear, this is very similar to Pack Darling and The Beta. It’s much closer aligned with The Beta, in plot and maybe more like Pack Darling with characters. That being said, I don’t hate this…..but it wasn’t great either. It’s both books mentioned but just….less. Less angst, less emotion, less feeling. The plot feels very half fleshed out, and the “bad guy” feels underwhelming. I didn’t really feel any real emotions from and of the male leads, except maybe Oliver. The others fell sorta flat for me. And Mika makes herself out to be this big bad ass straight outta training and then we never see it from here again with the one fitting room incident as the exception. SPOILER: The whole, “Oh, I’m actually probably an Omega, but I don’t wanna be but I do actually wanna be but no one can ever know my secret that I do nothing to hide “ thing fell so flat. She never commutes to believing she was secretly an omega, but also mentions her “secret” a lot. It just felt so manufactured. I’m intrigued enough to read part 2 and see how the author closes everything out, but this is not one I’ll recommend or ever come back to.
WAS THIS REVIEW HELPFUL?YesReportShare
Reviewed in the United States on February 13, 2024
R
Verified Purchase
Ruth Ann Burt
Phoenix, US
★★★★★ 5
Great book
Format: Kindle
I absolutely feel in love with all 4 characters!!! The bedroom scenes were 🌋🌡🔥🔥🔥. I couldn't put this book down!!! I'm hooked for the whole series Book 2 here I come!!!!! Its a fun easy book and story to read!!
WAS THIS REVIEW HELPFUL?YesReportShare
Reviewed in the United States on October 4, 2024
D
Verified Purchase
Danyelle
Carnegie, US
★★★★★ 4
Fun with a late blooming omega
Format: Kindle
I like this book. The story is fun, cute, and sexy. There's just a little drama, some excellent, steamy scenes, and a fairly good relationship building storyline. I especially like how all the main characters are a bit older than the usual 20 somethings I tend to see in this kind of book. Having said that, I wish there were more descriptions of the places, as well as the food in the fancy restaurant. I enjoyed the cocktails at the club, so I missed that kind of detail when Gray took Madison on a dinner date. I also wish there had been more interaction between Lucas and Madison, and Lucas and Rian. It felt a bit lopsided, with a focus on Rian, Madison, and Gray. I wish it had been proofread - there are a lot of typos, but nothing too distracting.
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Reviewed in the United States on September 12, 2022
J
Verified Purchase
Jennifer G
Battle Creek, US
★★★★★ 3
Madison Deserved Better
Format: Kindle
Madison was a beta...except she wasn't any longer. She was a late presenting Omega. And she was struggling. She was tall and thin, not tiny and curvy. She was opinionated. She was everything an Omega was not. After suffering through her first heat, her friends took her to Ardor, a club where Omegas came to safely find Alphas. She's not expecting much but then she connects with a sexy beta. And when she meets his Alphas, they set her body on fire. Maybe, she's found her no-strings-attached heat pack. Maybe, she's found something more. I could not connect with the characters in this book, so their story never resonated with me. And there was no love story; there was sex. Grey made it clear from the beginning that he had a true love and it was his beta boy, Rian. He went so far as to reassure Rian “Say the word, I’ll never touch her again. Lucas can put the babies in her. I only need you, beta boy”. So, Madison was there for babies, no emotions needed. Nice. No, thank you. I want the Omega to be the center of their world, not an incubator. Lucas and Rian weren't any better. After her heat, they let her leave. Not one of them made her feel valued. No one gave her a reason to stay or even offered a cuddle. And the sex didn't even come across as mind-blowing. Madison deserved better.
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Reviewed in the United States on March 11, 2025
O
Verified Purchase
Oregon BookWorm
Omaha, US
★★★★★ 5
No breakup, very sweet, instalove
Format: Kindle
Omegaverse and doesn't disappoint! Sweet guys, newly Omega FMC. The boyfriends are boyfriends. What's not to love? No angst, no breakup.
WAS THIS REVIEW HELPFUL?YesReportShare
Reviewed in the United States on February 23, 2025

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