ZED RTK + xPico WiFi telemetry - M10130 
The 3DR ZED-F9 GPS is a high-performance device capable of using all constellations simultaneously, including the more precise L2 band, making it the most precise GPS available today.
ZED-F9 GPS from 3DR also features a proprietary RF stage, which delivers high gain and high noise immunity compared to passive antennas. It also uses less space and weight than most active antenna counterparts and eliminates signal loss caused by u.Fl/SMA antenna connectors and long cables.
This module includes an xPico 200 series module, the XPC240, which provides dual band WiFi telemetry capabilities (2.4Ghz and 5GHz). The XPC host application provides a simple interface for configuring and managing the module. For more information, please visit the xPico resources site.
The board also includes our M00073 RM3100 compass module, which provides survey-grade heading.
Specifications
| Specifications | 3DR ZED F9 + XPC240 |
|---|---|
| Board size | 58.2 mm x 72.2 mm x 12.63 mm |
| Weight | 38.5g |
| Constellations | GPS (L1/L2), Glonass (L1/L2), Galileo,BeiDou |
| Compass | RM3100 in I2C |
| Barometer | No |
| RTK ready | Yes |
| USB Port | No |
| CAN ready | No |
| Operating temperature range | -20 - 80 °C |
| LED | RTK, PPS, GEO, PWR |
| Mounting Holes | 2.7 mm |
The board ships with 2x 6-Pin JST-GH to 6-Pin JST-GH cables.
Design changelog
The latest revision F model made some minor internal changes which do not impact board's functionality, performance nor compability.
These changes mainly targeted internal optimizations and improvements, such as:
- An improved power path
- ESD protection device changed
Operations with this sensor are transparent with respect to previous revision (E) in supported flightstacks. And no further action is required.
Firmware
The 3DR u-Blox ZED-F9 RTK L1/L2 GPS is compatible with the following firmware:
ArduPilot
- Arducopter 4.x
- ArduPlane 4.x
- ArduRover 4.x
PX4
- V1.10
- V1.9
- V1.8
Usage Guide
The GPS unit ships pre-configrued to work with Ardupilot/PX4 software out of the box if connected to the dedicated GPS port on any of their supported autopilot boards.
If the parameters of the u-Blox ZED-F9P module need to be modified for your use case please download u-Blox’s u-center software and refer to its datasheets and usage guides to do so.
Connectors
All connectors follow the Dronecode connector standards. Unless noted otherwise, all connectors are JST-GH.
GPS1 / UART1
u-Blox UART + I2C
| Pin | Color | Signal | TTL/Voltage Level |
|---|---|---|---|
| 1 | red | VCC | 5V |
| 2 | black | RX | 3V3 |
| 3 | black | TX | 3V3 |
| 4 | black | I2C_SCL | 3V3 |
| 5 | black | I2C_SDA | 3V3 |
| 6 | black | GND | N/A |
LANTRONIX
| Pin | Color | Signal | TTL/Voltage Level |
|---|---|---|---|
| 1 | red | VCC | 5V |
| 2 | black | RX | 3V3 |
| 3 | black | TX | 3V3 |
| 4 | black | RTS | 3V3 |
| 5 | black | CTS | 3V3 |
| 6 | black | GND | N/A |
x means not connected.
Wiring
| Pilot | GNSS |
|---|---|
| VCC | VCC |
| TX | RX |
| RX | TX |
| I2C_SCL | I2C_SCL |
| I2C_SDA | I2C_SDA |
| GND | GND |