HolyBro H-RTK ZED-F9P Rover (IP66, RM3100 Compass, DroneCAN)

Looking for rock-solid positioning accuracy and top-tier orientation for your UAV adventures? Cue the H-RTK ZED-F9P Rover (DroneCAN 4-pin). This upgraded RTK GPS module is powered by the u-blox ZED-F9P GNSS receiver, delivering centimeter-level precision. With concurrent tracking of GPS (L1/L2), GLONASS, Galileo, and BeiDou, you’ll enjoy swift, reliable multiband RTK. It also integrates a high-precision PNI RM3100 compass for stable heading data. The IP66-rated enclosure shrugs off water and dust, so you can keep flying in rain, shine, or questionable choices of flight venues. Plus, the DroneCAN interface packs an MCU, IMU, and barometer for advanced UAV integration.

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

Key Features

• Advanced GNSS Receiver: Uses the u-blox ZED-F9P for reliable and accurate positioning.
• Integrated RM3100 Compass: High precision, low noise, and stable orientation data.
• DroneCAN Interface: Features an STM32G4 MCU, ICM42688 IMU, and ICP20100 barometer, all neatly integrated for advanced UAV systems.
• IP66-Rated: Dust- and water-resistant design, perfect for harsh or “less-than-ideal” conditions.
• Hybrid Coupler + SAW + LNA Architecture: Enjoy superior signal clarity and interference rejection.
• Robust EMI Shielding: Minimizes electromagnetic interference for consistent performance.
• Versatile Installation: Flat or elevated mounting options let you place it for optimal signal reception.

Specifications

• Product Model:
  – SKU12059 (DroneCAN 4-pin)
• Connector Type: GH1.25 4pin cable
• Applicable Port: Pixhawk CAN Port
• Communication Protocol: DroneCAN
• MCU / IMU / Barometer:
  – MCU: STM32G4
  – IMU: ICM42688
  – Barometer: ICP20100
• Magnetometer: RM3100 (High precision, low noise)
• GNSS Receiver: u-blox ZED-F9P
• GNSS Bands:
  – GPS: L1C/A, L2C
  – GLONASS: L1OF, L2OF
  – Galileo: E1-B/C, E5b
  – BeiDou: B1I, B2I
  – QZSS: L1C/A, L2C
• Number of Concurrent GNSS: 4
• Heading Accuracy: 0.4°
• Positioning Accuracy (RTK): 0.01m + 1ppm CEP
• Antenna:
  – Dual-band stacked ceramic patch (47.5×47.5×4mm)
  – LNA Gain: 20.5±1dB
  – Peak Gains: L1: 4.0dBi, L2: 1.0dBi
• Acquisition:
  – Hot Start: 2s
  – Aided Start: 2s
  – Cold Start: 25s
• Data & Update Rate:
  – RAW: 20Hz max
  – RTK: 8Hz max
  – Moving Base RTK: 5Hz max
• Maximum Altitude: 80,000m
• Maximum Speed: 500m/s
• Sensitivity:
  – Tracking & Navigation: –167 dBm
  – Cold Starts: –148 dBm
  – Hot Starts: –157 dBm
  – Reacquisition: –160 dBm
• Timepulse: Configurable 0.25Hz to 10MHz
• Protocols: NMEA, UBX binary, RTCM 3.3
• Filtering & Amplification: Triple SAW + LNA, Double Hybrid Coupler
• Anti-jamming: Active CW detection and removal, Onboard band-pass filter
• Anti-spoofing: Advanced algorithms
• Cable Length: 40cm
• Baud Rate: 115200 5Hz (default, configurable)
• Working Temperature: -40°C to +85°C
• Working Voltage: 4.75V~5.25V
• Current Consumption: ~250mA
• Dimensions: 78mm (diameter) × 22mm (height)
• IP Rating: IP66 (per test report)
• Weight: 117g

• Change Log From Pervious Versions
• RTK Testing & Comparison by Andrew Tridgell (Ardupilot)
• User Guide: Setup & Getting started (Ardupilot)
• User Guide: Setup & Getting started (PX4)
• GPS Heading/Yaw (Aka Moving baseline) Guide
• Pinout
  
• Dimensions
  
• Downloads
• For other technical details and user guide, please see the documentation Page here.

What’s in the Box

• 1x H-RTK ZED-F9P Rover (DroneCAN 4-pin)
• 1x Fixed Carbon Fiber GPS Mount