Upgrade firmware

This article mainly describes how to upgrade the firmware for C-RTK 2HP.

Firmware release notes

Firmware v1.107 was released on 2026-10-9, with the following main updates:

• Added GNSS_Quality message support, which pushes RF interference and spoofing monitoring information to the ground station for display, making it easier to keep the device operating safely.
• Added PPP (Precise Point Positioning) support, enabling high-precision positioning without an RTK base station.
• Added the ability to upgrade the receiver firmware over CAN.
• Significantly improved satellite lock capability and better interference rejection.

NOTE

All C-RTK 2HP units delivered after October 1, 2026 are upgraded at the factory and do not need to be upgraded again.

Preparations before upgrade

• Flight controller running ArduPilot firmware
• Download Mission Planner
• Download the C-RTK 2HP firmware package (contains the system firmware and the receiver firmware)
• Connect the C-RTK 2HP to the controller

Upgrade system firmware

The system firmware is the C-RTK 2HP device firmware. After the upgrade, you can check the software version in the DroneCAN/UAVCAN page of Mission Planner.

Using Mission Planner

1. Connect the C-RTK 2HP to the controller (running ArduPilot firmware).

2. Connect the controller to the computer with a USB cable.
3. Run Mission Planner and connect, then go to "SETUP → Optional Hardware → DroneCAN/UAVCAN".

4. Select MAVLinkCAN1/2 according to your hardware connection to get the CAN device list; click the "Menu" control on the right of the C-RTK 2HP device and select "Update", then choose "No" in the online upgrade dialog to upgrade from a local file.
5. In the file selector, choose C-RTK-2HP-v1.107.bin from the firmware package and open it, then wait for the upgrade to finish.
6. The software version becomes 1.107.7BB07A09, which means the system firmware upgrade succeeded.

Upgrade receiver firmware

The receiver firmware is the firmware of the GNSS module inside the C-RTK 2HP. It can be upgraded in two ways.

Method 1: Upgrading over CAN

NOTE

Upgrading the receiver firmware over CAN requires system firmware v1.107 or later. Complete the system firmware upgrade above first.

1. In the DroneCAN/UAVCAN page, click the "Menu" control on the right of the C-RTK 2HP device and select "Parameters" to read the device parameter list.

2. Set GPS_UPDATE_FW to 1 and write the parameter; do not power off, go straight to the next step.

3. Click the "Menu" control again, select "Update", and choose the gnss_can_v164.bin file from the firmware package, then wait for the upgrade to finish.

Method 2: Using Uprecise

• Connect the C-RTK 2HP to a computer with a USB cable
• Run the Uprecise software and follow the steps below to upgrade the firmware.