ACFLY K9 Multirotor Autopilot Flight Controller Dual IMU | RTK Support | IP67 Rated | No APM / Pixhawk

Description

Overview

The ACFLY K9 Autopilot Flight Controller is a high-performance UAV control system designed for professional multirotor applications such as surveying, inspections, security, and precision agriculture. Featuring a dual-IMU architecture, integrated ADRC anti-interference algorithm, RTK positioning, and IP67-grade protection, the K9 controller delivers accurate, stable, and reliable autonomous flight even in harsh environments.

With rich peripheral interfaces, real-time multi-sensor fusion, and robust flight stability, the K9 system is ideal for industrial UAV developers and integrators requiring high precision and dependability.

Key Features

• Dual IMU Redundancy: Ensures stable flight even under vibration or magnetic interference

• Integrated RTK (ZED-F9P): Achieves up to 2cm RTK accuracy; supports NTRIP, local base station

• ADRC-Based Control: Autonomous parameter tuning without traditional PID

• Sensor Health Fusion: Detects sensor anomalies and switches to the optimal sensor in real-time

• POS Data Logging: Records real-time position, orientation, and PPK-ready log files

• High Compatibility: Supports camera trigger, gimbal, radar, LiDAR, LED, and optical flow

• Full Interface Support: UART, CAN, I2C, PWM (14 channels), USB, SWD

• Waterproof & Rugged: IP67 protection, aluminum alloy enclosure, and wide temperature tolerance

Technical Specifications

Item	Specification
Model Versions	K9 Standard / K9 PRO (Single RTK) / K9 MAX (Dual RTK)
MCU	STM32H743VIT6 (480MHz, 16KB L1 Cache)
IMU Sensors	BMI088 + ICM20689 (Dual Accelerometers), QMC5883 (Magnetometer), SPL06 (Barometer)
RTK Chip	UBLOX ZED-F9P (built-in for PRO/MAX versions)
GPS Module	UBLOX NEO-M9N + IST8310
RTK Frequency	10Hz / 20Hz
RTK Accuracy	0.010.02m (RTK), 0.30.4m (non-RTK)
GPS Accuracy	0.51.0m
GPS Frequency	5Hz
Satellite Systems	GPS, GLONASS, Beidou, Galileo, SBAS, QZSS
Flash / TF Storage	8MB Flash / 32GB TF card
Voltage Detection	090V 2 channels
Current Detection	0200A 1 channel
PWM Channels	14
Data Logging	Position, attitude, PPK-ready POS log
Protection Grade	IP67
Housing Material	6061 aluminum alloy
Operating Temperature	-40C ~ +85C
Power Input Range	8V87V

Dimensions & Weight

Component	Size (mm)	Weight
Main FC	55 50 17	66g
GPS	46 10	28g
LED	20 20 9	10g
RTK	25 57	16g

Ground Station Support

• ACFLY GCS PRO: Supports full attitude feedback, mission planning, waveform analysis, parameter tuning, calibration, and log export

• Also compatible with QGroundControl (QGC) and Mission Planner (MP)

• POS data export in RINEX / TXT format, supports post-processing PPK workflows

Wiring & Integration

• Supports connections to:

  • RTK/PPK systems

  • Optical flow, radar, OpenMV

  • Gimbal & camera trigger systems

  • Dual battery setups

  • External LEDs, LiDARs, and ultrasonic sensors

Application Scenarios

• High-precision geospatial surveying

• Power line and infrastructure inspection

• Emergency response and public safety UAVs

• Large-area agricultural spraying & mapping

• UAV training and certification platforms

Details

ACFLY K9 autopilot offers dual IMU, ADRC algorithm, stable flight, custom waypoints, RTK/PPK support, multiple interfaces, storage, and durable design for multirotors.

K9 autopilot has three versions: Standard, PRO, and MAX. PRO and MAX provide high-precision RTK GPS (0.010.02m accuracy). Interfaces include CAN, USB, serial, LED, PWM, and more. All versions share the same size.

K9 autopilot includes STM32H743VIT6 MCU, 8MB flash, 32GB TF storage, RTK GPS (2cm accuracy), supports PWM, voltage/current detection, and works from -40C to +85C with IP67 protection.

ACFLY K9 Wiring Diagram illustrates connections for a multirotor autopilot flight controller. Components include GCS PRO, POD, LED, LASER, GPS, RC, and two batteries. RTK/PPK supports external devices. Motors connect via ESCs. Additional serial devices like Optical Flow, OPENMV, and Radar are configurable through parameters. Data links ensure communication between the ground control system and the flight controller. The diagram provides a comprehensive overview of the K9’s setup, ensuring proper integration of all elements for optimal drone operation.

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