CUAV Dual RTK for Yaw Package | X7+ Controller C-RTK 9Ps
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CUAV Dual RTK for Yaw Package | X7+ Controller C-RTK 9Ps
Technical specifications refer to the base model. Package contents depend on the selected configuration; manufacturer images may show other bundles.
X7+ Controller Product BriefX7+ is a premium controller designed and produced by CUAV. It adopts the STM32H7 series processor, which offers higher performance than the Pixhawk FMU v5x, and integrates industrial-grade sensors and ultra-low-temperature-drift sensors. It supports ArduPilot & PX4 firmware. The X7+ series has better stability and immunity to interference.
CUAV X7+ Features:
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H7 double-precision floating-point processor
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Built-in shock absorption
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3 sets of IMUs support intelligent failover
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Support temperature compensation
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High-performance ICM-42688-P sensor
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Modular design, support customized baseboard
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Support more Dshot output
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Dedicated DroneCAN power interface
Main Parameter |
|
| Processor | STM32H743(Arm Cortex -M7,480MHz, 2MB FLASH, 1MB RAM) |
Sensors |
|
| Accelerometer | ICM-42688-P / ICM-20689 / ICM-20689 |
| Gyroscope | ICM-42688-P / ICM-20689 / ICM-20689 |
| Electronic Compass | RM3100 |
| Barometer | MS5611 *2 |
Interfaces |
|
| UART | 5 |
| I2C | 6 (2 interfaces are integrated in GPS&SAFETY&UART4) |
| PWM OUT | 14 ( M1~M12 Support DSHOT protocol) |
| RC IN | 1 (Support PPM SBUS DSM) |
| RSSI | PWM or 3.3V analog voltage |
| CAN | 2 |
| Power IN | 2 (Power A for ADC protocol, Power C for CAN protocol) |
| Safety Switch | 1 |
| GPS | 2 |
| ADC | 1 |
| DEBUG | 1 |
| JATG | 1 |
| USB | 1 |
| Rated Voltage | 4.5 ~ 5.5 V |
| USB Voltage | 4.75 ~ 5.25 V |
| Servo Voltage | 0 ~ 10 V |
| Working Temp | -20 ~ 85 ℃ |
| Humidity | 5% ~ 95%(Does not condense) |
| Size | 77.0 × 45.5 × 39.0mm |
| Weight | 101g |


The C-RTK 9Ps is a multi-satellite & multi-frequency GNSS system. It also supports dual GPS for yaw, which can replace electronic compasses, and is useful when in complex magnetic environments, such as close to power lines. It is a very cost-effective centimeter-level RTK module compatible with PX4/ ArduPilot open-source controllers. It is an ideal choice for Unmanned Systems mapping, agricultural applications, accurate takeoff and landing, ship takeoff and landing, and other applications requiring real-time navigation.
CUAV C-RTK 9Ps Features:
- Multi-star Multi-frequency Receiver
- Centimeter-Level Positioning
- Dual RTK For Yaw
- The dual-end Switchover design reduced costs
Product Parameters |
|
| Receiver | 184 channel ZED‑F9P(ublox) |
| Electronic Compass | IST8310 |
| GNSS | GPS、BDS、GALILEO、GLONASS |
| Concurrent GNSS | 4 |
| GNSS Bands | GPS‑L1C/A,GPS‑L2C, GLONASS‑L10F,GLONASS‑L2OF, GALILEO‑E1B/C,GALILEO‑E5b, BDS‑B1I,BDS‑B2I, QZSS‑L1CIA,QZSS‑L2C, |
| Nav.update rate | RTK20Hz; RAW25Hz; PVT25Hz (The maximum limit is related to the concurrency setting) |
| Position Accuracy | RTK:0.01m+1ppm CEP GPS:1.5m CEP; SBAS:1.0m CEP |
| Convergence Time | RTK<60s |
| Acquisition | Cold start<24s Hot start<1s |
| Sensitivity | Tracking and nav‑167dBm Cold start‑148 dBm Hot start‑157 dBm Reacquisition ‑160 dBm |
| Anti‑jamming | Active CW detection and removal, Onboard band pass filter |
| Anti‑spoofing | Advanced anti‑spoofing algorithms |
| Antenna Gain | Rover:2dBi Base:5dBi |
| PPK | Not Support |
| GPS Heading | Support(requires two C‑RTK9Ps);heading accuracy:0.4deg(reference value) |
| Base/Rover Role Swap | Support |
| UART | 2 UART |
| USB | 1 |
| Protocols | NMEA、UBX binary、RTCM 3.x |
| Operating voltage | 4.5~6V |
| Operating Temperature | -40~85℃ |
| Size | 47.0×32.0×12.2mm |
| Weight | 30g(Module Only) |
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Product Usage Scope and Limitations
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