The 3DR Dual-Antenna RTK Heading GNSS Receiver with DroneCAN Node (R0073) brings Septentrio's newest ultra-compact receiver to the
DroneCAN ecosystem. The mosaic-G5 P3H is a quad-band, all-constellation RTK receiver with a second
antenna input, so a single board delivers centimeter-level position **and** GNSS heading with no
dependence on a magnetometer — ideal for fixed-wing, VTOL, marine and ground platforms where compass
interference or low dynamics make magnetic heading unreliable.

A dedicated DroneCAN node with a CAN-FD transceiver sits beside the receiver and runs ArduPilot
AP_Periph, bridging the mosaic-G5's COM1 port to DroneCAN. The receiver's second UART, both PPS
outputs, both event inputs, USB-C and a microSD logging slot are all broken out on standard JST-GH and
USB-C connectors, so the board works equally well as a DroneCAN GNSS, as a serial GNSS, or as a
standalone RTK base/rover and data logger.

Power comes from a wide-range 5–36 V input on an XT30 connector (2S–8S direct from the battery) with
a 33 V flat-clamp TVS on the input, or from USB-C for bench work. All external ports carry ESD
protection.

Key Features

• GNSS Receiver Septentrio mosaic-G5 P3H — GPS, GLONASS, Galileo, BeiDou, QZSS, SBAS; quad-band (single antenna) / triple-band (dual antenna) 

• Heading  Dual-antenna GNSS heading + pitch *or* roll; sub-degree accuracy, no magnetometer required

• RTK / PPP RTK rover and base (RTCM), Galileo HAS, Septentrio AIM+ anti-jamming and anti-spoofing, LOCK+ high-vibration tracking, RAIM+ 

• Communication  DroneCAN via AP_Periph on STM32L431 (Cortex-M4, 80 MHz) with ATA6501 CAN-FD transceiver

• Serial  GNSS COM2 with RTS/CTS on 6-pin JST-GH (Pixhawk standard); COM1 internally routed to the CAN node

• Timing  Two PPS outputs and two event inputs on dedicated 4-pin JST-GH timing ports; xPPS precision 1.4 ns, event timestamp < 3 ns

• USB-C Direct USB to the receiver for RxTools, firmware update and configuration; also powers the board

• Logging  Onboard push-pull microSD slot for internal receiver logging

• Status CAN node status, GNSS status 

Technical Specifications

System & Electrical

Mechanical

What’s Included

• TBD

Documentation

Coming soon

Terms & Policies:

Additional Information