The Matek AP_PERIPH DroneCAN GNSS M9N-G4-3100 (GPS+Compass) is designed with advanced ArudPilots’ AP_Periph firmware to provide exceptional performance for drones. Its GNSS+COMPASS peripheral offers both CAN/DroneCAN and UART/MSP interfaces, giving you high versatility and compatibility for seamless integration into your drone system. Plus, its lightweight and compact design make it perfect for achieving precision navigation and direction control during flights.

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Features:

• M9N-G4-3100 is based on ArudPilots AP_Periph firmware, It is a GNSS+COMPASS peripheral with CAN/DroneCAN and UART/MSP interfaces.
• M9N-G4-3100 uses multi-constellation GNSS powered by M9 series , It is a concurrent GNSS receiver which can receive and track multiple GNSS systems. Owing to the multi-band RF front-end architecture all four major GNSS constellations, GPS,Galileo, GLONASS and BeiDou can be received concurrently.
• M9N-G4-3100 integrates an industrial-grade compass PNI RM3100 which provides high resolution, low power consumption, no hysteresis, large dynamic range, and high sampling rates.
• G474 CAN node is compatible with CAN FD(5 Mbps) & CAN 2.0 (1 Mbps)

Specifications:

• GNSS M9N series (GPS, GLONASS, Galileo and BeiDou)
• Magnetic CompassRM3100
• Patch GNSS Antenna 25*25*4mm
• MCU STMG474CE, 170MHz

• UART2, onboard M9N GNSS module
• UART3(TX3), MSP Protocol
• CAN, DroneCAN Protocol

• CAN bootloader LED, Blue
  • Fast blinking, Booting
  • Slow blinking, working
• GNSS PPS LED, Green
  • Green LED OFF after powering on
  • blinking(1Hz) when GNSS has 3D fixed
• 3.3V LED, Red

• Input voltage range: 4~6V (5V pad/pin)
• Power consumption: 100mA
• Operating Temperatures: -20~80 C

• 36mm*36mm*12mm
• 16g
• M9N-G4-3100_step.zip

Firmwares

• ArduPilot AP_Periph:MatekG474-GPS orMatekG474-Periph
• Update via DroneCAN GUI Tool or Mission PlannerDroneCAN Tab, loadAP_Periph.bin
• Update in G474 DFU mode via USB & STM32CubeProgrammer, loadAP_Periph_with_bl.hex

CAN (UAVCAN protocol) Connection

• M9N-G4-3100 5V FC 4V ~ 6V
• M9N-G4-3100 CAN-H FC CAN High
• M9N-G4-3100 CAN-L FC CAN Low
• M9N-G4-3100 G FC G/GND

FC UAVCAN Parameters(ArduPilot)

• CAN_D1_PROTOCOL -> 1
• CAN_P1_DRIVER -> 1
• GPS_TYPE -> 9 (DroneCAN)
• COMPASS_TYPEMASK -> 0 (make sure DroneCAN Unchecked)

–

UART (MSP protocol) Connection

• M9N-G4-3100 5V FC 4V ~ 6V
• M9N-G4-3100 TX3 FC spare UART_RX
• M9N-G4-3100 G FC G/GND

ArduPilot (since 4.1.x) FC Parameters

• Serialx_PROTOCOL = 32 (MSP) where x is the SERIAL port used for connection on autopilot.
• Serialx_BAUD = 115 where x is the SERIAL port used for connection on autopilot.
• GPS TYPE = 19 (MSP)
• COMPASS_TYPEMASK 0 (or make sure MSP bit is not checked)

INAV (since 2.6) FC Parameters

• M9N-G4-3100 is compatible with any flight controller supported by INAV over a spare UART.
• In ports tab, Enable MSP on corresponding UART that M9N-G4-3100 connected, DO NOT enable GPS on that UART. selectBaudrate 115200.
• feature GPS
• set gps_provider = MSP
• set mag_hardware = MSP
• set align_mag = CW90, if compass is mounted flat with arrow facing forward, and flight controller arrow is facing forward also.

Package Includes:

• 1 x M9N-G4-3100
• 1 x JST-GH-4P to JST-GH-4P 20cm silicon wire
• Mounting base (1x PCB plate, 4x silicon grommets, 4x Nylon standoffs M3x7, 4x Nylon screws M3*8)

Tips and Notes

• on M9N-G4-3100, The 3 magnetic coils have little solder paste to avoid the excess to tilt them, resulting in some reading inaccuracies of the compass. Any strong impacts will definitely separate them, especially the tall coil Sen-Z-f. Pls use this precision module with care.
• Start with ubx GNSS FW3.01, timepulse is aligned with UTC time and that time is set valid only after leap second is downloaded. That could take up to 12.5 min. Probably PPS LED will not blink immediately after GPS has 3D fixed.
• The M9N-G4-3100 provides the ability to reset the receiver. Bridging M9N-RST pad to Ground for at least 100 ms will trigger a cold start. RESET will delete all information and trigger a cold start. It should only be used as a recovery option.
• No barometer integrated.