HOLYBRO X650 Development Kit – Professional Development Platform for UAV Applications The HOLYBRO X650 Development Kit is a robust and versatile development platform for professional drone applications. The high-quality carbon fiber frame combines low weight with high structural strength and provides ample space for additional components, sensors, cameras, and companion computers. Depending on the configuration, the system is equipped with a HOLYBRO Pixhawk 6C or HOLYBRO Pixhawk 6X Flight Controller, HOLYBRO M10 GPS, and a plug-and-play SiK telemetry radio module. Thanks to the pre-installed motors, ESCs, and LEDs, as well as the convenient plug-in connections, the drone can be assembled quickly without any soldering. This makes the HOLYBRO X650 Development Kit suitable for developing custom UAV systems as well as for research, testing, and integration projects. Robust Carbon Fiber Frame The HOLYBRO X650 frame is made from high-quality carbon fiber and is designed to provide high structural strength while maintaining a low overall weight. The 20 mm carbon fiber tube arms are supported by robust, foldable aluminum arm mounts. This allows the drone to be folded into a compact form for transport and storage. The landing gear is also made from durable carbon fiber tubes with diameters of 16 mm and 10 mm. Reinforced connectors provide additional stability and a reliable overall construction. Quick Assembly Without Soldering The HOLYBRO X650 Development Kit has been designed for particularly simple and fast assembly. Motors, ESCs, and LEDs are already pre-installed on the arms. The arms connect directly to the power distribution board via XT30 connectors, eliminating the need for time-consuming soldering work. This makes the HOLYBRO X650 particularly suitable for developers, system integrators, and professional users who need to quickly build a ready-to-use platform for their own UAV applications. Pixhawk Flight Controller with PX4 or ArduPilot The HOLYBRO X650 Development Kit is available with either a HOLYBRO Pixhawk 6C or HOLYBRO Pixhawk 6X Flight Controller. Both flight controllers support the widely used open-source autopilot platforms PX4 and ArduPilot. The system is supplied with PX4 by default. Alternatively, ArduPilot can be installed using Mission Planner or QGroundControl. This provides a flexible foundation for a wide range of development and research projects. Large Mounting Area for Custom Extensions The generously sized mounting areas provide ample space for additional hardware. Various components, sensors, and payloads can be installed on the upper platform and battery mounting plate. The integrated rail system also allows various camera mounts, gimbals, and additional accessories to be installed. Mounting points for GPS systems and commonly used companion computers such as the Raspberry Pi 4 or Jetson Nano are already provided. Prepared for Companion Computers and Sensors Thanks to the available mounting options, the HOLYBRO X650 platform is ideally suited for integrating additional computing hardware and sensors. Companion computers can be used for autonomous flight functions, image processing, artificial intelligence, or the processing of additional sensor data. An optional dedicated mount for depth cameras is also available. This allows cameras from the Intel RealSense series or Structure Core depth cameras to be integrated. Integrated Power Distribution and Telemetry The integrated power distribution board features XT60 and XT30 connectors, providing an organized power supply for the various system components. The included SiK Telemetry Radio V3 provides a wireless telemetry link between the drone and the ground station. Technical Highlights HOLYBRO Pixhawk 6C or HOLYBRO Pixhawk 6X Flight Controller Support for PX4 and ArduPilot HOLYBRO M10 GPS module SiK Telemetry Radio V3, 433/915 MHz Robust carbon fiber frame Foldable aluminum arm mounts No soldering required for assembly Pre-installed motors, ESCs, and LEDs Large mounting areas for additional components Integrated rail system for cameras and gimbals Prepared mounting points for Raspberry Pi and Jetson Nano Optional mount available for depth cameras Package Contents HOLYBRO Pixhawk 6C with plastic enclosure and PM02 V3 or HOLYBRO Pixhawk 6X (v2A) with PM02D HOLYBRO M10 GPS module SiK Telemetry Radio V3, 433/915 MHz HOLYBRO X650 V2 Frame Kit 4 × T-Motor MN4014 KV330 motors with XT30 connectors 4 × NeoPixel WS2812 LEDs 4 × Tekko32 F4 45A ESCs with XT30 connectors Gemfan 1555 carbon fiber propellers, 4 pcs. Power distribution board with XT60 and XT30 connectors Assembly tools Technical Specifications Wheelbase: 650 mm Motor Mounting: 16–25 mm mounting pattern Frame Plates: Carbon fiber, 160 × 160 mm, 2 mm thick Arms: 20 mm carbon fiber tubes Landing Gear: 16 mm and 10 mm carbon fiber tubes Upper Mounting/Battery Plate: 120 × 128 mm Rail System: 2 × 10 mm diameter, 320 mm long each Kit Weight: approx. 2,000 g without battery Maximum Take-Off Weight: 6,300 g Recommended Battery: 6S LiPo, 5,000–12,000 mAh, XT60 Flight Time and Payload With a 6S 10,000 mAh LiPo battery, a hover flight time of up to 30 minutes is possible. Actual flight time depends on factors including battery capacity, flight profile, weather conditions, and additional payload. Flight Time: up to 30 minutes in hover Payload without Battery: up to 4.3 kg Payload with 5,200 mAh Battery (750 g): up to 3.5 kg Payload with 10,000 mAh Battery (1,200 g): up to 3.1 kg Maximum Take-Off Weight: 6.3 kg at 70% throttle Flexible Development Platform With its robust carbon fiber construction, high payload capacity, and extensive expansion options, the HOLYBRO X650 Development Kit provides a flexible foundation for professional UAV development. The generous mounting areas and support for various flight controller and companion computer platforms enable the integration of custom hardware and software. Whether for research and development, sensor integration, autonomous systems, camera platforms, or custom UAV projects, the HOLYBRO X650 provides a solid and highly expandable foundation.

HOLYBRO H-RTK mosaic-H – High-Precision Dual-Antenna RTK GNSS for Professional UAV and Robotics Systems The HOLYBRO H-RTK mosaic-H is a high-precision RTK GNSS module based on the powerful Septentrio mosaic-H receiver. It has been developed for professional UAVs, robotics, and autonomous systems and combines centimeter-level RTK positioning with dual-antenna GNSS heading, high update rates, and extensive functions for data logging, analysis, and post-processing. The package includes two high-performance antennas, an integrated IST8310 magnetometer, and a robust CNC-machined aluminum enclosure. In addition, the system provides features such as spectrum analysis, data logging, PPK support, and flexible configuration for different application scenarios. Dual-Antenna GNSS Heading By using two GNSS antennas, the HOLYBRO H-RTK mosaic-H can determine yaw orientation directly via GNSS. This function is commonly referred to as GPS Heading or Moving Baseline Yaw. This can reduce dependence on a conventional magnetic compass. Particularly on UAVs, UGVs, and other autonomous platforms, motors, high-current wiring, metallic structures, and other sources of electromagnetic interference can affect magnetometer readings. GNSS-based heading determination provides a particularly reliable orientation solution in such environments. Centimeter-Level RTK Positioning The HOLYBRO H-RTK mosaic-H provides high-precision RTK positioning at centimeter level, making it suitable for applications requiring highly accurate navigation and positioning. Horizontal RTK Accuracy: 0.6 cm + 0.5 ppm Vertical RTK Accuracy: 1.0 cm + 1 ppm Multi-Constellation and Multi-Frequency GNSS The Septentrio mosaic-H supports multiple global navigation satellite systems and frequency bands simultaneously. This provides access to a large number of available satellites for navigation, heading, and RTK positioning. GPS: L1, L2 Galileo: E1, E5b GLONASS: L1, L2 BeiDou: B1, B2, B3 QZSS: L1C/A, L1C/B, L2 SBAS: EGNOS, WAAS, GAGAN, MSAS, SDCM on L1 Septentrio AIM+ Anti-Jamming and Anti-Spoofing With Septentrio's AIM+ technology, the HOLYBRO H-RTK mosaic-H provides advanced functions for detecting and mitigating GNSS interference. Both unintentional and intentional interference can be detected and automatically mitigated. The system also supports OSNMA, providing an additional security feature for modern GNSS applications. LOCK+, APME+ and IONO+ In addition to AIM+, the mosaic-H receiver incorporates further Septentrio technologies designed to improve the robustness of GNSS navigation under challenging conditions. LOCK+: robust signal tracking under strong vibrations, shocks, and rapid antenna movements APME+: mitigation of multipath effects and reflected GNSS signals IONO+: improved protection against ionospheric disturbances RAIM+: Receiver Autonomous Integrity Monitoring for additional integrity monitoring GNSS Attitude Accuracy The accuracy of GNSS-based heading and attitude determination depends, among other factors, on the distance between the two antennas. A larger antenna baseline can provide higher accuracy. 1 m Antenna Baseline: Heading 0.15°, Pitch/Roll 0.25° 5 m Antenna Baseline: Heading 0.03°, Pitch/Roll 0.05° Position Accuracy Standalone Horizontal: 1.2 m Standalone Vertical: 1.9 m SBAS Horizontal: 0.6 m SBAS Vertical: 0.8 m DGNSS Horizontal: 0.4 m DGNSS Vertical: 0.7 m RTK Horizontal: 0.6 cm + 0.5 ppm RTK Vertical: 1.0 cm + 1 ppm High Update Rates The HOLYBRO H-RTK mosaic-H supports high measurement and update rates, making it particularly suitable for dynamic UAV and robotics applications. Measurements Only: up to 100 Hz Standalone, SBAS, DGPS + Attitude: up to 50 Hz RTK + Attitude: up to 20 Hz Latency: < 10 ms Fast Position Acquisition Cold Start: ≤ 45 seconds Hot Start: ≤ 20 seconds Re-Acquisition: 1 second Integrated IST8310 Magnetometer In addition to GNSS-based heading determination, the HOLYBRO H-RTK mosaic-H features an integrated IST8310 magnetometer. It can be used as an additional or alternative heading source. PPK, Data Logging and Post-Processing The HOLYBRO H-RTK mosaic-H provides extensive capabilities for data logging and post-processing. This makes the module suitable not only for conventional RTK applications but also for PPK and other professional surveying and development applications. Onboard data logging PPK support Spectrum analysis Post-processing Raw data access Rover, Moving Baseline and Base Station The HOLYBRO H-RTK mosaic-H can be flexibly used in different GNSS configurations, making it suitable for both mobile systems and stationary reference applications. Rover Moving Baseline Rover Base Station PPK Interfaces Port 1: USB Type-C Port 2: UART1 – GH1.25 10-Pin Port 3: UART2 – GH1.25 6-Pin Module Antenna Connector: SMA Female Antenna Connector: SMA Male Controls and Buzzer LOG Button: short press starts or stops data logging LOG Button – Long Press: mounts/unmounts the SD card Safety Switch: safety function for the flight controller Buzzer: integrated High-Performance Antennas The package includes two high-performance GNSS antennas for dual-antenna operation and precise heading determination. Maximum Antenna Gain: 2 dBi LNA Gain: 33 ± 2 dB Antenna Diameter: 40 mm Antenna Height: 76 mm High Timing Accuracy xPPS Out: 5 ns Event Accuracy: < 20 ns Features Septentrio mosaic-H GNSS receiver Centimeter-level RTK positioning Dual-antenna GNSS heading Moving Baseline Yaw Multi-constellation and multi-frequency GNSS GPS, Galileo, GLONASS, BeiDou, QZSS, and SBAS AIM+ anti-jamming and anti-spoofing OSNMA support LOCK+ for robust operation under vibration and shock APME+ multipath mitigation IONO+ protection against ionospheric disturbances RAIM+ integrity monitoring Integrated IST8310 magnetometer Measurement rates up to 100 Hz RTK + Attitude up to 20 Hz PPK support Data logging and post-processing Web interface and Ethernet CNC-machined aluminum enclosure Compatible with PX4 and ArduPilot Technical Specifications Product: HOLYBRO H-RTK mosaic-H GNSS Receiver: Septentrio mosaic-H Magnetometer: IST8310 Default Baud Rate: 230400 at 5 Hz Baud Rate: configurable Operating Voltage: 4.75–5.25 V Typical Power Consumption: 0.6 W Maximum Power Consumption: 1.1 W Operating Temperature: -40 °C to +85 °C Module Dimensions: 42.7 × 71.8 × 13.3 mm Weight: 54.5 g without antennas Supported Protocols NMEA SBF RINEX RTCM CMR Firmware Compatibility ArduPilot PX4 Package Contents 1 × HOLYBRO H-RTK mosaic-H 2 × High-Performance GNSS Antennas 2 × H-RTK Antenna Mounts 2 × SMA Cables, 40 cm 2 × GH 10-Pin Cables 1 × GH 6-Pin Cable 1 × GH 10-Pin to 6-Pin Cable 1 × USB-C Cable For Professional RTK, UAV and Robotics Applications The HOLYBRO H-RTK mosaic-H combines high-precision RTK navigation with dual-antenna GNSS heading, high update rates, and advanced interference mitigation capabilities. This makes the system particularly suitable for professional UAVs, UGVs, robotics platforms, and autonomous systems. With features such as PPK, data logging, raw data access, a web interface, and Ethernet connectivity, the mosaic-H also provides extensive capabilities for research, development, surveying, and demanding navigation projects.

HOLYBRO Microhard Telemetry Radio – Professional Data Radio System for UAVs and Unmanned Systems The HOLYBRO Microhard Telemetry Radio is a high-performance telemetry and data radio system for UAVs, UGVs, robotic platforms and other unmanned systems. It integrates a professional Microhard Pico Series RF module and enables robust wireless transmission of serial data between the vehicle, flight controller and ground station. Depending on the Microhard variant used, the radio system supports different network topologies including Point-to-Point, Point-to-Multipoint and, with the P900 version, a self-organizing mesh network with automatic routing. This makes the system suitable for both conventional telemetry links and more complex communication architectures involving multiple network participants. For robust wireless transmission, the system uses Frequency Hopping Spread Spectrum (FHSS). This technology enables reliable wireless transmission of asynchronous serial data and is particularly suitable for professional applications with demanding communication requirements. Microhard Pico Series RF Technology The HOLYBRO Microhard Telemetry Radio integrates an RF module from the Microhard Pico Series. Different frequency ranges and data rates are available depending on the selected version. The P900 version operates in the 902 to 928 MHz frequency range and additionally supports mesh communication. The P400 version operates in the 410 to 480 MHz range. Permitted frequencies and transmission power depend on the applicable regulations of the respective country or operating location. P900: 902–928 MHz P400: 410–480 MHz P900 Data Rate: up to 276 kbps P860 / P400 Data Rate: up to 345 kbps Point-to-Point and Point-to-Multipoint The Microhard Telemetry Radio supports robust communication structures for different system architectures. In addition to a conventional direct connection between two radio modules, Point-to-Multipoint configurations can also be implemented. Point-to-Point communication Point-to-Multipoint communication Serial data transmission Suitable for more complex radio networks Mesh Network with Automatic Routing The P900 version additionally supports true mesh operation with automatic routing. Multiple compatible radio modules can communicate with each other and forward data within the network. This functionality enables flexible communication networks to be created for applications where multiple unmanned systems, ground stations or other network participants need to be interconnected. Note: Mesh functionality is available exclusively with the P900 version. Frequency Hopping Spread Spectrum The Microhard system uses Frequency Hopping Spread Spectrum (FHSS) for wireless data transmission. The radio communication switches between different frequencies within the available frequency band according to a defined hopping sequence. This technology supports robust data transmission and reduces the impact of individual interference signals within the operating frequency range. Direct Connection to Flight Controllers The HOLYBRO Microhard Telemetry Radio features a 6-pin JST-GH connector. This allows the radio module to be connected directly to the TELEM port of many compatible flight controllers. This enables compact integration of the telemetry system into UAVs, VTOL platforms, UGVs and other autonomous systems. USB-C with Integrated USB-to-UART The current V2 version features a USB-C connector with an integrated USB-to-UART converter. A separate UART-to-USB adapter is therefore no longer required for configuration. A dedicated switch allows the operating mode to be changed for firmware parameter configuration. Settings can be configured either via AT commands through the data port or using Microhard PicoConfig software. Flexible Power Supply The radio module features an XT30 power connector and an integrated high-voltage BEC. This provides a wide input voltage range of 7 to 35 V DC and simplifies integration into different power supply architectures. Input Voltage: 7–35 V DC Power Connector: XT30 Integrated high-voltage BEC Status Indicators Multiple integrated LED indicators provide quick visual monitoring of the operating status and radio connection. UART transmission LED Three-level RSSI indicator Diagnostic port LED Data Integrity and Error Correction For reliable data transmission, the Microhard system supports several mechanisms for detecting and correcting transmission errors. These include 32-bit CRC, configurable retransmissions and Forward Error Correction (FEC). 32-bit CRC Configurable retransmission Forward Error Correction Low-latency transparent data transmission Diagnostics and Network Control A separate diagnostic port provides additional functions for monitoring and managing the radio connection. Transparent remote diagnostics and online network control are supported. Features Professional telemetry and data radio system Microhard Pico Series RF technology Frequency Hopping Spread Spectrum (FHSS) Point-to-Point communication Point-to-Multipoint communication Mesh communication with automatic routing on P900 Data rate up to 276 kbps with P900 Data rate up to 345 kbps with P860 and P400 Low-latency transparent data transmission 6-pin JST-GH connector for compatible flight controllers USB-C connector Integrated USB-to-UART converter Configuration via AT commands or PicoConfig XT30 power connector Integrated high-voltage BEC 7 to 35 V DC input voltage UART transmission LED Three-level RSSI indicator Diagnostic port LED 32-bit CRC Configurable retransmission Forward Error Correction (FEC) Remote diagnostics and network control Technical Specifications Product HOLYBRO Microhard Telemetry Radio RF Module Microhard Pico Series P900 Frequency Range 902–928 MHz P400 Frequency Range 410–480 MHz P900 Data Rate up to 276 kbps P860 / P400 Data Rate up to 345 kbps Radio Technology Frequency Hopping Spread Spectrum (FHSS) Network Topologies Point-to-Point, Point-to-Multipoint Mesh P900 version Flight Controller Connector 6-pin JST-GH USB USB Type-C USB-to-UART Integrated Power Supply 7–35 V DC Power Connector XT30 Configuration AT Commands / PicoConfig Error Detection 32-bit CRC Error Correction Forward Error Correction (FEC) For Professional Unmanned Systems The HOLYBRO Microhard Telemetry Radio is suitable for professional UAV, VTOL, UGV and robotics applications requiring a powerful and flexible radio connection between unmanned systems and ground stations. With support for multiple network topologies, FHSS, error correction and – with the P900 version – mesh communication, the system can also be integrated into more extensive communication architectures. Direct JST-GH connectivity, USB-C configuration and the wide input voltage range simplify integration into custom-developed unmanned systems. Note: Frequency range, transmission power and operating mode must be selected and configured in accordance with the applicable radio regulations of the respective country and operating location.

HOLYBRO RM3100 Professional DroneCAN Compass – Precision 3-Axis Magnetometer for Unmanned Systems The HOLYBRO RM3100 Professional DroneCAN Compass is a high-precision 3-axis magnetometer for UAVs, UGVs, robotics platforms, and other unmanned systems. The sensor is based on PNI magneto-inductive technology and is designed for applications requiring reliable magnetic orientation and high heading accuracy. With its high resolution, extremely low magnetic hysteresis, and excellent signal-to-noise ratio, the RM3100 enables precise magnetic field measurements. This makes the magnetometer particularly suitable for professional navigation and autopilot systems where reliable heading determination is required. Communication with the flight controller is handled digitally via DroneCAN. This allows the RM3100 to be easily integrated into existing CAN bus systems without occupying an additional serial port on the flight controller. The robust enclosure provides an IP66 protection rating, making the sensor suitable for operation in demanding environmental conditions. Precision 3-Axis Magnetometer The RM3100 measures the magnetic field along three axes and provides precise magnetic field data to the flight controller. This information can be used to determine the orientation and heading of a UAV or other unmanned vehicle. PNI's magneto-inductive sensor technology provides high repeatability and extremely low magnetic hysteresis. Depending on the selected cycle-count configuration, the magnetometer achieves a sensitivity of up to 13 nT. Reduction of Magnetic Interference Electric motors, high-current wiring, batteries, power distribution systems, and metallic components can influence the local magnetic field of an unmanned system and distort magnetometer measurements. Using an external magnetometer allows the sensor to be mounted farther away from these potential sources of interference. This can contribute to more reliable heading determination, particularly on high-performance UAVs and other electrically powered platforms. For the most accurate measurements, the RM3100 should therefore be installed in a position as far away as practical from motors, high-current wiring, and larger metallic components. DroneCAN Communication Communication between the RM3100 and the flight controller is handled through the robust DroneCAN protocol. CAN-based data transmission is particularly suitable for professional UAV and robotics platforms where multiple sensors and peripheral devices need to communicate reliably. Multiple DroneCAN-compatible devices can operate on a shared CAN bus, helping simplify wiring in more complex systems. At the same time, the magnetometer does not require an additional UART port on the flight controller. Digital communication via DroneCAN Robust CAN bus data transmission No additional UART port required Multiple DroneCAN devices can operate on a shared bus Suitable for longer cable runs within the system Software-controlled CAN termination PNI RM3100 Sensor Technology The RM3100 is based on PNI's proprietary magneto-inductive sensor technology. This technology enables precise magnetic field measurements with high resolution and repeatability. The measurement range is -800 to +800 µT. Depending on the selected cycle-count configuration, the sensor can be configured for either a higher sampling rate or increased sensitivity with lower noise. Measurement Axes: 3 axes Measurement Range: -800 to +800 µT Sensitivity: up to 13 nT Noise: as low as 15 nT, depending on configuration Extremely low magnetic hysteresis High repeatability High signal-to-noise ratio Configurable Cycle Counts Different cycle-count settings allow the magnetometer's behavior to be adapted to the specific application. Lower cycle counts enable higher sampling rates, while higher cycle counts provide greater sensitivity and lower noise. Cycle Counts 50 100 200 Gain 20 LSB/µT 38 LSB/µT 75 LSB/µT Sensitivity 50 nT 26 nT 13 nT Noise 30 nT 20 nT 15 nT Max. Single-Axis Sample Rate 1600 Hz 850 Hz 440 Hz The specified maximum sampling rates apply to a single axis. For the maximum sampling rate in 3-axis operation, the respective value must be divided by three. IP66-Rated Enclosure The current RM3100 module is supplied in a robust enclosure with an IP66 protection rating. The enclosure provides complete protection against dust ingress as well as protection against powerful water jets. This makes the magnetometer suitable for UAVs, UGVs, and other unmanned systems operating outside controlled laboratory environments. Software-Controlled CAN Termination CAN termination on the RM3100 can be enabled or disabled via software. This allows the module to be configured according to its position within the CAN bus system without requiring hardware modifications. Connection For connection to the CAN bus, the RM3100 features a compact 4-pin JST-GH 1.25 mm connector. This allows the magnetometer to be integrated into compatible DroneCAN and Pixhawk-based system architectures. Output: DroneCAN Connector: 4-pin JST-GH 1.25 mm CAN Termination: software-controlled Features Precision 3-axis magnetometer PNI RM3100 magneto-inductive sensor technology Precise magnetic field measurement Suitable for heading and orientation determination Measurement range from -800 to +800 µT Sensitivity down to 13 nT Extremely low magnetic hysteresis High signal-to-noise ratio High repeatability DroneCAN communication No additional UART port required Software-controlled CAN termination 4-pin JST-GH connector IP66-rated enclosure Operating temperature from -40 °C to +85 °C Suitable for UAVs, UGVs, robotics, and autonomous systems Technical Specifications Product: HOLYBRO DroneCAN RM3100 Professional Grade Compass Sensor Type: 3-axis magnetometer Sensor: PNI RM3100 Sensor Technology: magneto-inductive Measurement Range: -800 to +800 µT Cycle Counts: 50 / 100 / 200 Gain: 20 / 38 / 75 LSB/µT Sensitivity: 50 / 26 / 13 nT Noise: 30 / 20 / 15 nT Max. Single-Axis Sample Rate: 1600 / 850 / 440 Hz Communication Protocol: DroneCAN Connector: 4-pin JST-GH 1.25 mm CAN Termination: software-controlled Operating Temperature: -40 °C to +85 °C Protection Rating: IP66 For Professional Navigation Systems The HOLYBRO RM3100 Professional DroneCAN Magnetometer is suitable for applications requiring reliable magnetic orientation for navigation and autonomous functions. Particularly on larger multicopters, VTOL platforms, UGVs, and other professional unmanned systems, external installation of the magnetometer can help reduce magnetic interference generated by the propulsion system. In combination with a compatible flight controller and additional navigation sensors such as GNSS, RTK, IMU, LiDAR, or Optical Flow, the RM3100 can be used as part of a comprehensive sensor and navigation architecture. Package Contents 1 × HOLYBRO DroneCAN RM3100 Professional Grade Compass

HOLYBRO H-Flow – Optical Flow and ToF Distance Sensor with DroneCAN The HOLYBRO H-Flow is a compact sensor for optical motion and distance measurement in UAVs and other unmanned systems. The module combines a PixArt PAA3905E1 optical flow sensor, a Broadcom AFBR-S50LV85D Time-of-Flight distance sensor, and an InvenSense ICM-42688-P 6-axis IMU in a single housing. By combining optical flow, distance measurement, and IMU data, the H-Flow can support the flight controller in determining position and motion. This is particularly useful for indoor flights or other environments where a reliable GNSS signal is not available. An integrated infrared LED improves the operating conditions of the optical flow sensor in low ambient light. Communication with the flight controller is handled via DroneCAN and a Pixhawk-standard CAN connection with a 4-pin JST-GH connector. Optical Flow and Distance Measurement in One Module The H-Flow combines multiple sensors in a compact unit. This simplifies integration into UAV platforms and eliminates the need to install separate optical flow, distance, and motion sensors. PixArt PAA3905E1 optical flow sensor Broadcom AFBR-S50LV85D Time-of-Flight distance sensor InvenSense ICM-42688-P 6-axis IMU Integrated infrared LED STM32F412CEU6 microcontroller DroneCAN communication PixArt PAA3905E1 Optical Flow Sensor The integrated PixArt PAA3905E1 detects motion relative to the surface below. These data can be used by the flight controller to determine horizontal movement and can support position control in environments without reliable satellite-based navigation. Sensor: PixArt PAA3905E1 Minimum Illumination: above 5 lux Effective Field of View: up to 42° Operating Range: 80 mm to 30 m Maximum Angular Velocity: up to 7.4 rad/s Infrared LED for Low Ambient Light To support the optical flow sensor in poor lighting conditions, the H-Flow features an integrated 40 mW infrared LED. It has a 120° beam angle and improves optical detection in low ambient light. Power: 40 mW Beam Angle: 120° Integrated directly into the H-Flow Supports optical flow operation in low-light conditions Broadcom Time-of-Flight Distance Sensor For distance measurement, the H-Flow uses a Broadcom AFBR-S50LV85D Time-of-Flight sensor. The sensor uses an integrated 850 nm laser light source and provides a typical distance measurement range of up to 30 meters. The distance measurement complements the optical flow data with information about the distance to the detected surface. This allows motion and distance data to be used together for navigation and position control. Sensor: Broadcom AFBR-S50LV85D Measurement Principle: Time-of-Flight (ToF) Laser Wavelength: 850 nm Typical Range: up to 30 m Field of View: 12.4° × 6.2° Resolution: 32 pixels Ambient Light: operation up to 200,000 lux Emitter Beam: 2° × 2° Designed for different surface conditions Integrated 6-Axis IMU In addition to optical flow and distance measurement, an InvenSense ICM-42688-P 6-axis IMU is integrated. It provides acceleration and angular rate data and complements the module's optical sensor data. IMU: InvenSense ICM-42688-P 3-axis accelerometer 3-axis gyroscope DroneCAN Communication Communication between the H-Flow and the flight controller is handled via the DroneCAN protocol. CAN-based data transmission provides robust digital communication and simplifies integration into compatible autopilot systems. A Pixhawk Standard CAN Connector with a 4-pin JST-GH connector is provided for connection. Protocol: DroneCAN Connection: Pixhawk Standard CAN Connector: 4-pin JST-GH CAN Termination: software-controlled STM32F412 Microcontroller Sensor data processing and DroneCAN communication are handled by an integrated STM32F412CEU6 microcontroller. This combines the various sensors within the H-Flow into one compact sensor module. Compact and Lightweight Design The H-Flow has been designed for space- and weight-efficient integration. The complete module weighs only 15.2 g including the housing. Without the housing, the weight is just 3.5 g. Weight with Housing: 15.2 g Weight without Housing: 3.5 g Support for GNSS-Independent Navigation The combination of optical flow, distance measurement, and IMU data makes the H-Flow particularly useful for applications where positioning cannot rely exclusively on GNSS. Examples include indoor flights, large halls, technical facilities, and other shielded environments. The H-Flow does not generally replace a complete navigation solution. Instead, it provides the flight controller with additional motion and distance information that can be used for position control and navigation depending on the autopilot configuration. Features Combined optical flow and distance sensor module PixArt PAA3905E1 optical flow sensor Broadcom AFBR-S50LV85D Time-of-Flight sensor InvenSense ICM-42688-P 6-axis IMU Typical distance measurement up to 30 m Optical flow operating range from 80 mm to 30 m Integrated 40 mW infrared LED Improved operation in low ambient light STM32F412CEU6 microcontroller DroneCAN communication Pixhawk Standard CAN connection 4-pin JST-GH connector Software-controlled CAN termination Compact and lightweight design Technical Specifications Optical Flow Sensor: PixArt PAA3905E1 Optical Flow Field of View: up to 42° Optical Flow Operating Range: 80 mm to 30 m Optical Flow Light Requirement: > 5 lux Maximum Angular Velocity: 7.4 rad/s IR LED: 40 mW / 120° Distance Sensor: Broadcom AFBR-S50LV85D Measurement Principle: Time-of-Flight Laser Wavelength: 850 nm Typical Distance Range: up to 30 m ToF Field of View: 12.4° × 6.2° ToF Resolution: 32 pixels Ambient Light: up to 200,000 lux IMU: InvenSense ICM-42688-P 6-axis Microcontroller: STM32F412CEU6 Communication: DroneCAN CAN Connection: Pixhawk Standard 4-pin JST-GH CAN Termination: software-controlled Weight: 15.2 g with housing Weight without Housing: 3.5 g Package Contents 1 × HOLYBRO H-Flow 1 × 4-Pin GH Cable 2 × M2.5 Screws 2 × M2.5 Nylon Lock Nuts Optical Flow for UAVs and Autonomous Systems The HOLYBRO H-Flow combines three important sensor technologies in a compact module: optical flow for motion detection, Time-of-Flight for distance measurement, and a 6-axis IMU for measuring acceleration and angular rates. With DroneCAN, a Pixhawk-compatible CAN connection, and its compact design, the H-Flow is particularly suitable for UAVs, robotics platforms, and custom unmanned systems that require additional sensor data for precise motion and position estimation.

HOLYBRO DroneCAN Airspeed – Precision Airspeed Sensor for UAVs and VTOL Systems The HOLYBRO DroneCAN Airspeed is an industrial-grade differential pressure sensor designed for precise airspeed measurement in UAVs. The module is particularly suitable for fixed-wing aircraft, VTOL platforms and other unmanned aerial vehicles where reliable measurement of the aircraft's actual speed relative to the surrounding air is required. The module uses a high-precision ALLSENSORS® DLVR differential pressure sensor featuring CoBeam technology. Depending on the version, the DroneCAN Airspeed is equipped with either a DLVR-L10D or DLVR-L20D sensor. This enables airspeed measurements of up to 226.8 km/h or 320 km/h respectively. Communication with the flight controller is handled digitally via DroneCAN. The module operates with ArduPilot AP-Periph firmware and can be used with compatible flight controllers featuring a CAN interface and running PX4 or ArduPilot. Precise Airspeed Measurement Airspeed is determined by measuring the differential pressure between static and dynamic air pressure. In combination with the included Pitot tube, the sensor measures the dynamic pressure generated by the aircraft's movement through the surrounding air and provides precise airspeed data to the autopilot. This information is particularly important for fixed-wing aircraft and VTOL systems. The flight controller can use the measured airspeed for flight control, navigation and the management of different flight phases. Two Sensor Versions The HOLYBRO DroneCAN Airspeed is available in two versions. The DLVR-L10D supports differential pressures up to 2500 Pa and airspeeds up to 226.8 km/h. The DLVR-L20D extends the measurement range to 5000 Pa and supports airspeeds up to 320 km/h. Specification DLVR-L10D DLVR-L20D Pressure Range up to 2500 Pa up to 5000 Pa Airspeed 0–226.8 km/h 0–320 km/h Airspeed 0–141 mph 0–200 mph Burst Pressure 75 kPa 125 kPa ALLSENSORS DLVR Differential Pressure Sensor The integrated DLVR sensors from ALLSENSORS are based on CoBeam technology and are designed for high-precision differential pressure measurements. Low temperature drift supports reliable measurements across a wide operating temperature range. The specified measurement error is less than 1%. This makes the sensor suitable for demanding UAV applications where reliable airspeed data is required for flight control. DroneCAN Communication Measurement data is transmitted via the DroneCAN protocol. CAN-based communication provides a robust digital connection between the airspeed sensor and flight controller and is particularly suitable for more complex UAV system architectures. Digital airspeed data transmission via DroneCAN AP-Periph DroneCAN firmware Compatible with PX4 Compatible with ArduPilot No additional UART port required Integration via the flight controller's CAN bus Software-controlled CAN termination STM32G473 Microcontroller Sensor data processing and DroneCAN communication are handled by a powerful STM32G473CE microcontroller. It operates at a clock frequency of up to 170 MHz and provides 128 KB RAM and 512 KB Flash memory. MCU: STM32G473CE Clock Frequency: 170 MHz RAM: 128 KB Flash Memory: 512 KB AP-Periph Firmware The HOLYBRO DroneCAN Airspeed uses ArduPilot AP-Periph firmware. AP-Periph enables the integration of various sensors and peripheral devices as DroneCAN nodes and manages communication with the primary flight controller. Compatible with PX4 and ArduPilot The sensor can be used with compatible flight controllers featuring a CAN interface and operating with PX4 or ArduPilot. This makes the DroneCAN Airspeed suitable for a wide range of professional autopilot and development platforms. Robust Aluminum Enclosure The electronics are housed in a compact aluminum enclosure. This protects the integrated components while supporting mechanically robust integration into UAV platforms. Software-Controlled CAN Termination The CAN termination resistor can be enabled or disabled via software. This allows the airspeed sensor to be configured according to its position within the CAN bus system without requiring hardware modifications. Features Industrial-grade DroneCAN airspeed sensor Precise differential pressure measurement ALLSENSORS DLVR sensor with CoBeam technology Available with DLVR-L10D or DLVR-L20D Up to 2500 Pa measurement range with DLVR-L10D Up to 5000 Pa measurement range with DLVR-L20D Airspeed measurement up to 226.8 km/h with DLVR-L10D Airspeed measurement up to 320 km/h with DLVR-L20D Measurement error below 1% Low temperature drift DroneCAN communication AP-Periph firmware Compatible with PX4 and ArduPilot STM32G473CE microcontroller Software-controlled CAN termination Robust aluminum enclosure Suitable for fixed-wing aircraft and VTOL systems Technical Specifications Product: HOLYBRO DroneCAN Airspeed Sensor Type: Differential pressure sensor / airspeed sensor Sensor: DLVR-L10D or DLVR-L20D Sensor Manufacturer: ALLSENSORS Technology: CoBeam Pressure Range DLVR-L10D: 2500 Pa Pressure Range DLVR-L20D: 5000 Pa Burst Pressure DLVR-L10D: 75 kPa Burst Pressure DLVR-L20D: 125 kPa Airspeed DLVR-L10D: 0–226.8 km/h Airspeed DLVR-L20D: 0–320 km/h Accuracy: < 1.0% measurement error MCU: STM32G473CE Clock Frequency: 170 MHz RAM: 128 KB Flash Memory: 512 KB Firmware: AP-Periph DroneCAN Communication Protocol: DroneCAN Compatibility: PX4 and ArduPilot Operating Voltage: 4.75–5.25 V Current Consumption: approx. 100 mA Operating Temperature: -20 °C to +85 °C CAN Termination: software-controlled Dimensions and Weight Sensor Module: 29 × 35.5 × 16.5 mm Pitot Tube: 91.5 × 28 × 30 mm Weight: 38.3 g including Pitot tube and tubing For Fixed-Wing Aircraft and VTOL Systems The HOLYBRO DroneCAN Airspeed is particularly suitable for fixed-wing aircraft and VTOL platforms where the actual speed relative to the surrounding air is an important parameter for flight control. Unlike ground speed determined from GNSS data, airspeed measurement takes into account the aircraft's movement relative to the surrounding air mass. When used with a compatible autopilot, airspeed measurement can contribute to more precise control across different flight conditions and provides an important sensor input for professional and autonomous fixed-wing and VTOL platforms.