> For the complete documentation index, see [llms.txt](https://docs.holybro.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.holybro.com/gps-and-rtk-system/f9p-h-rtk-series/dronecan-f9p/specification.md).

# Specification

### Hardware Specification

| **Product Model**        | <p><strong>DroneCAN H-RTK F9P</strong> <br><strong>Rover</strong> </p> | **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                                                              | <p>Available with</p><ul><li>STM32-G473 <br>or </li><li>NXP-S32k146</li></ul>                                            |
| 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) | <p>L1: 4.0dBi </p><p>L2:1.0 dBi</p>                                    | <p>L1: 2dBi<br>L2: 2dBi</p>                                                                                              |
| Time-TO-First Fix        | <p>Cold start: ≤29s </p><p>Hot start: ≤1s</p>                          | <p>Cold start: ≤25s<br>Hot start: ≤1s</p>                                                                                |
| Navigation Update Rate   | <p>RAW: 20Hz Max<br>RTK: 8Hz Max</p>                                   | <p>RAW: 20Hz Max<br>RTK: 8Hz Max</p><p>Moving Base RTK: 5Hz Max</p>                                                      |
| Cable Length             | 27cm or 50cm                                                           | N/A                                                                                                                      |
| Antenna Connection Type  | N/A                                                                    | <p>Board: SMA female<br>Antenna: SMA male</p>                                                                            |
| Working voltage:         | 4.75V\~5.25V                                                           | 4.75V\~5.25V                                                                                                             |
| Current Consumption      | \~250mA                                                                | \~250mA                                                                                                                  |
| Dimensions               | <p>Diameter: 80mm<br>Height: 20mm</p>                                  | Board (G4): 51.1\**35\**&#x32;2.9mm Board (S32k1): 51.1\**35\**&#x32;4.3mm Antenna Diameter: 27.5mm Antenna height: 59mm |
| Weight                   | 123g                                                                   | 58g                                                                                                                      |
| Operating Temperature    | -20℃ to 85℃                                                            | -20℃ to 85℃                                                                                                              |


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