C-RTK2 HP Heading and RTK Module

C-RTK2 HP is a heading and RTK receiver designed and manufactured by CUAV. The difference from F9P is that it only needs one module to realize GPS for yaw. C-RTK2 HP also supports UART and Dronecan connection methods.

../_images/c-rtk2-hp.jpg

Features

  • Full constellation, multi-frequency GNSS satellite receiver

  • Single module, dual antenna heading and positioning system

  • RM3100 industrial grade Magnetometer (for safety redundancy)

  • Safe and reliable DroneCAN protocol or standard UART serial interface

  • Automatic switching between USB and UART

  • ArduPilot AP Periph Open Source Firmware

Key Features

MCU

STM32F4

Sensors

Compass:RM3100

Receiver

UM982 High precision GNSS SOC

GNSS

BDS/GPS/GLONASS/Galileo/QZSS

Frequency Bands(Master)

BDS:B1I/B2I/B3I, GPS:L1(C/A)/L2(P/C)/L5, GLONASS:L1/L2, Galileo: E1/E5a/E5b, QZSS:L1/L2/L5

Frequency Bands(Slave)

BDS:B1I/B2I/B3I, GPS:L1(C/A)/L2(P/C)/L5, GLONASS:L1/L2, Galileo: E1/E5a/E5b, QZSS:L1/L2

Position accuracy(RMS)

3DGPS: 1.5m (Horizontal, 2.5m(Vertical), DGPS: 0.4m +1PPM(Horizontal), 0.8m+1PPM(Vertical), RTK: 0.8cm +1PPM(Horizontal), 1.5cm+1PPM(Vertical)

Heading accuracy (RMS)

0.1° using 1m baseline(Distance from Antenna 1 to Antenna 2)

Acquisition

Cold starts<30S, Initialization time<5s

Data update rate

UP to 20hz(default:5hz)

Differential data

RTCM3.X

Data protocol

Dronecan/NMEA

Connectors

Master Antenna, Slave Antenna、CAN、UART、DSU、USB

Operating Voltage

4.7~5.2V

Operating temperature

-20~85℃

Size

50*37*17mm

Weigh

40g

Purchase

CUAV Alibaba

Pinouts

../_images/pinouts.jpg

Hardware connection and ArduPilot Setup

C-RTK2 HP supports connection either via serial or DroneCAN port to the autopilot.

DroneCAN

The diagram below shows the C-RTK2-HP being connected via its CAN port to an autopilot’s CAN port.

../_images/c-rtk2-hp-connection-en.jpg

Serial

The diagram below shows the C-RTK2 HP being connected via its UART2 port to an autopilot’s serial port setup for GPS Protocol.

../_images/c-rtk2-hp-connection-en2.jpg
  • set the autopilot’s SERIALx_PROTOCOL = ‘5’ (be sure any lower numbered port does not use this protocol unless a GPS is attached)

  • GPS_TYPE = 25 (UnicoreMovingBaseline)

Note

this unit can be used with only its “Master” antenna connected, if desired, but no yaw information should be used. In this case set GPS_TYPE = 24 (UnicoreMaster)

Common Setup

for either connection method, set:

  • EK3_SRC1_YAW = 2 (“GPS”) or 3 (“GPS with Compass Fallback”) if a compass(es) is also in the system.

Note

C-RTK2 HP provides an RM3100 magnetometer for use as Compass Fallback

Be sure to setup the offset parameters for the antennas, see: Antenna Offsets

CUAV docs

C-RTK2 HP