Holybro H-RTK ZED-F9P Rover - CAN Protocol RTK GNSS Module

The module uses a Controller Area Network (CAN) bus interface for data communication. You will need a microcontroller or single-board computer with a CAN transceiver (like an MCP2515) and CAN controller to connect. Configure the CAN baud rate (typically 1 Mbps) on your host system and parse the standardized NMEA or UBX protocol messages broadcast by the ZED-F9P receiver for position, velocity, time, and raw measurement data.

To achieve RTK accuracy, you need a compatible RTK base station (like another ZED-F9P module) broadcasting correction data. The rover receives GNSS signals and the correction stream via a communication link (e.g., 4G, LoRa, Wi-Fi). Configure both base and rover to output RTCM 3.x correction messages. The rover's ZED-F9P firmware then uses these corrections to resolve integer ambiguities, delivering centimeter-level positions. Ensure a clear view of the sky and a stable correction data link for optimal performance.

The module requires a regulated 5V DC power supply within the range of 4.75V to 5.25V. During normal operation with all GNSS constellations active and at high update rates, the current consumption is approximately 250 mA. Ensure your power source can provide this current steadily, especially during cold starts when power demand peaks. For mobile applications, consider power management strategies as continuous operation at 250 mA draws significant energy from battery packs.