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The RTK Torch runs the global firmware called RTK Everywhere. You can find its source [here](https://github.com/sparkfun/SparkFun_RTK_Everywhere_Firmware). Please see the [Quick Start Guide for the RTK Torch](https://docs.sparkfun.com/SparkFun_RTK_Everywhere_Firmware/quickstart-torch/) for a summary of how to get it connected over Bluetooth.
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*RTK Torch connected in SW Maps*
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The RTK Torch runs a universal firmware created by SparkFun called *RTK Everywhere*. You can find its source [here](https://github.com/sparkfun/SparkFun_RTK_Everywhere_Firmware). Please see the [Quick Start Guide for the RTK Torch](https://docs.sparkfun.com/SparkFun_RTK_Everywhere_Firmware/quickstart-torch/) for a summary of how to get the RTK Torch connected over Bluetooth.
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The RTK Torch has a standard 5/8" 11-TPI threaded base and is compatible with most equipment including surveying poles and equipment.
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Users can elect to connect to the RTK Torch from a phone, laptop, or tablet. Any device with Bluetooth is compatible. See [Connecting Bluetooth](https://docs.sparkfun.com/SparkFun_RTK_Everywhere_Firmware/connecting_bluetooth/) for more information.
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## Tilt Compensation
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The RTK Torch benefits from an internal IMU that can allow a user to take very accurate location readings even if the pole is not completely vertical.
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The IM19 inertial module fuses MEMS sensor and GNSS RTK positioning data to deliver low-cost, high-precision attitude measurement, delivering corrected RTK position data adding as little as 1cm inaccuracy to the position of the *point* of the surveying pole.
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IM19 Features
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* Extremely fast initializations, within 1~2s (95%)
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* Accuracy 1 cm up to 30° tilt angle, 2 cm up to 60°
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* Very fast calibration
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* Reduces overall mapping inaccuracies and increases productivity by not requiring pole leveling in the field
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In Rover mode with Tilt Compensation, once RTK Fix is achieved, tilt compensation can be enabled by tilting the unit back and forth on a surveyor's pole. Once the IMU is activated, the outputted NMEA sentences will be modified to output the location of the *tip* of the pole (not the location of the receiver). This allows taking measurements near trees, structure corners, even underwater topographies with accuracies of +1cm when the tilt is less than 30 degrees, and +2cm when the tilt is less than 60 degrees.
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For more information, see the [Tilt Compensation](https://docs.sparkfun.com/SparkFun_RTK_Everywhere_Firmware/menu_tilt/) feature in the product manual.
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Users can elect to connect to the RTK Torch from a phone, laptop, or tablet. Any device with Bluetooth is compatible. See [Connecting Bluetooth](https://docs.sparkfun.com/SparkFun_RTK_Everywhere_Firmware/connecting_bluetooth/) for more information.
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# Hardware Overview
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## GNSS Receiver Specifications
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The RTK Torch from SparkFun Electronics uses the UM980 high precision RTK capable GNSS receiver from Unicore ([datasheet](../Datasheets/UM980_Datasheet.pdf)). The receiver is capable of achieving the following accuracies:
The UM980 is capable of receiving the following GNSS frequencies:
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* GPS: L1C/A, L1C, L2P(Y), L2C, L5
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* GLONASS: L1, L2
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* Galileo: E1, E5a, E5b, E6
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* Beidou: B1I, B2I, B3I, B1C, B2a, B2b
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* QZSS: L1, L2, L5
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* SBAS
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The RTK Torch utilizes a specially tuned multi-frequency helical antenna making the overall device smaller and more lightweight than competing units.
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## Power / USB
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The human interface to the RTK Torch is simplistic by design! There is only one button, one USB port, and three LEDs.
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The RTK Torch kit includes a [1/4" to 5/8" thread adapter](https://www.sparkfun.com/products/17546) if users wish to connect the Torch to a [lower-cost monopole](https://www.amazon.com/AmazonBasics-WT1003-67-Inch-Monopod/dp/B00FAYL1YU).
While the user should never need to open the RTK Torch, above is an image of the top of the main PCB assembly. This shows the ESP32-WROOM-32UE-N16R2 module (16MB Flash, 2MB PSRAM), the [UM980 Tri-band High Precision GNSS receiver](https://www.sparkfun.com/products/23286), the IM91 IMU / Tilt Compensation sensor, the [STM32WLE5CCU6 MCU](https://www.st.com/en/microcontrollers-microprocessors/stm32wle5cc.html) with built-in LoRa, and 1W amplifier/front-end (centered at 900MHz).
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*RTK Torch Accessories*
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Located on the back side, are the MP2762AGV Charger IC, bq40z50 battery monitor, and the HUSB238 PD Sink IC. These combined allow for fast PD charging and monitoring of the 7.2V 6.8Ahr 49Whr battery pack.
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The RTK Torch kit includes the RTK Torch device, a [1/4" to 5/8" thread adapter](https://www.sparkfun.com/products/17546), and a [65W USB-C PD fast charger](https://www.sparkfun.com/products/24059). Additional pockets are available for additional gear.
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## Tilt Compensation
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**Note:**[International adapter sockets](https://www.sparkfun.com/products/24062) are available for the power adapter if needed.
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The RTK Torch benefits from an internal IMU that can allow a user to take very accurate location readings even if the pole is not completely vertical.
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## Battery and Charging
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The IM19 inertial module fuses MEMS sensor and GNSS RTK positioning data to deliver low-cost, high-precision attitude measurement, delivering corrected RTK position data while adding as little as 1cm inaccuracy to the position of the *point* of the surveying pole.
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IM19 Features
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The RTK Torch includes a 7.2V 6.8Ahr 49Whr battery. This is capable of running the device for more than 25 hours under worst-case conditions.
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* Extremely fast initializations, within 1~2s (95%)
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* Accuracy 1 cm up to 30° tilt angle, 2 cm up to 60°
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* Very fast calibration
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* Reduces overall mapping inaccuracies and increases productivity by not requiring pole leveling in the field
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The RTK Torch utilizes fast USB-C PD charging up to 18W. This allows a fully discharged RTK Torch to be charged to 100% in a few hours.
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In Rover mode with Tilt Compensation, once RTK Fix is achieved, tilt compensation can be enabled by tilting the unit back and forth on a surveyor's pole. Once the IMU is activated, the outputted NMEA sentences will be modified to output the location of the *tip* of the pole (not the location of the receiver). This allows taking measurements near trees, structure corners, even underwater topographies with accuracies of +1cm when the tilt is less than 30 degrees, and +2cm when the tilt is less than 60 degrees.
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## Internal Mainboard
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For more information, see the [Tilt Compensation](https://docs.sparkfun.com/SparkFun_RTK_Everywhere_Firmware/menu_tilt/) feature in the product manual.

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While the user should never need to open the RTK Torch, above is an image of the top of the main PCB assembly. This shows the ESP32-WROOM-32UE-N16R2 module (16MB Flash, 2MB PSRAM), the [UM980 Tri-band High Precision GNSS receiver](https://www.sparkfun.com/products/23286), the IM91 IMU / Tilt Compensation sensor, the [STM32WLE5CCU6 MCU](https://www.st.com/en/microcontrollers-microprocessors/stm32wle5cc.html) with built-in LoRa, and 1W amplifier/front-end (centered at 900MHz).
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The RTK Torch includes a 7.2V 6.8Ahr 49Whr battery. This is capable of running the device for more than 25 hours under worst-case conditions.
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Located on the back side, are the MP2762AGV Charger IC, bq40z50 battery monitor, and the HUSB238 PD Sink IC. These combined allow for fast PD charging and monitoring of the 7.2V 6.8Ahr 49Whr battery pack.
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The RTK Torch utilizes fast USB-C PD charging up to 18W. This allows a fully discharged RTK Torch to be charged to 100% in a few hours.
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## Beeper
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* Power Off: Beep three times
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* Entering Tilt Compensation: Beep Twice
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* While Tilt Compensation is Active: Short Beep every 10 seconds
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* Exit Tilt Compensation: Long Beep
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* Exit Tilt Compensation: Long Beep
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## Carrying Case
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The RTK Torch comes in a hard-sided case that can be locked if desired.
The RTK Torch kit includes the RTK Torch device, a [1/4" to 5/8" thread adapter](https://www.sparkfun.com/products/17546), and a [65W USB-C PD fast charger](https://www.sparkfun.com/products/24059). Additional pockets are available for additional gear.
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**Note:**[International adapter sockets](https://www.sparkfun.com/products/24062) are available for the power adapter if needed.
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