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AP_Periph GNSS M9N-F4-3100

Matek
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10330

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  • AP_Periph:  F405-MatekGPS

Mission Planner > Initial Setup > Optional Hardware > UAVCAN >  SLCan Mode CAN1  > Parameters SLCAN Parameters
PWM S1 PC6 TIM8_CH1 OUT1
S2 PC7 TIM8_CH2 OUT2
S3 PC8 TIM8_CH3 OUT3
S4 PC9 TIM8_CH4 OUT4
S5 PB0 TIM3_CH3 OUT5
S6 PB1 TIM3_CH4 OUT6
S7 PB6 / /
S8 PB7 / /
LED
JST-SH-3P
connector
PA15 TIM2_CH1 2812 LED
OUT7_FUNCTION 120
NTF_LED_TYPES 455
ADC Vbat pad PC0 0~69V
1K:20K divider builtin
BATT_MONITOR  4
BATT_VOLT_PIN  10
BATT_VOLT_MULT  21
Curr pad PC1 0~3.3V BATT_CURR_PIN 11
PC5 pad PC5 0~3.3V BATT_MONITOR  4
BATT2_VOLT_PIN  15
UART TX1 RX1 UART1 PORT0 USER
TX2 RX2 UART2 PORT1 USER
TX3 RX3 UART3 PORT2 USER
TX4 RX4 UART4 PORT3 GPS_PORT 3
on-board M9N
TX5 RX5 UART5 PORT4 MSP_PORT 4
I2C2 SCL/SDA
GH connector
PB10/PB11 on-board DPS310 Address 0x76
on-board QMC5883L COMPASS_AUTODEC  1
MS4525
DLVR-L10D
ARSP_TYPE  1  (Default)
ARSP_TYPE  9
SPI2 on-board RM3100
LED LED0 Blue Bootloader
LED1 Green /
LED2 Red 3v3 power
PPS Green GPS 3D fix
JST-SH LED pin External 2812 LED
Buzzer Buz-  Passive buzzer  –
5V  Passive buzzer +

 

CAN Connection

  • M9N-F4  5V          — FC  4.5V ~ 5.3V
  • M9N-F4 CAN-H   — FC  CAN High
  • M9N-F4 CAN-L    — FC  CAN Low
  • M9N-F4 G            — FC  G/GND

FC UAVCAN Parameters

  • CAN_D1_PROTOCOL -> 1
  • CAN_P1_DRIVER -> 1
  • GPS_TYPE -> 9 (UAVCAN)
  • COMPASS_TYPEMASK -> 0 (make sure UAVCAN Unchecked)
  • NTF_LED_TYPES ->  (make sure UAVCAN checked)

If you connect I2C airspeed sensor to I2C port of M9N-CAN

  • ARSPD_TYPE -> 8 (UAVCAN)
  • ARSPD_USE -> 1

And you must set CAN Node parameters for airspeed sensor connected to I2C port of M9N-CAN

Mission Planner > Initial Setup > Optional Hardware > UAVCAN >  SLCan Mode CAN1  > Parameters

  • MS4525   ARSP_TYPE -> 1  (default in hwdef)
  • MS5525   ARSP_TYPE -> 3    supports MS5525 with address 0x77 only
  • SDP3X     ARSP_TYPE -> 6
  • DLVR-L10D    ARSP_TYPE -> 9
  • Write and reboot

*** I2C peripherals don’t support hot plug.  Airspeed sensor and Flight controller must be turned on together.



MSP Connection

  • M9N-F4  5V    — FC 4.0V ~ 5.3V
  • M9N-F4 TX5  — FC  spare UART_RX
  • M9N-F4 RX5  — FC  spare UART_TX (not essential)
  • M9N-F4 G      — FC  G/GND

FC MSP Parameters   (ArduPilot 4.1.x)

  • 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)
  • BARO_PROBE_EXT  = 4096  (MSP Baro)
  • BARO_PRIMARY = 1  (If you want to use MSP baro as primary baro, otherwise leave as default)
  • COMPASS_TYPEMASK  0   (or make sure MSP bit is not checked)

INAV  (since 2.6)

  • M9N-F4 is compatible with any flight controller supported by INAV over a spare UART.
  • In ports tab, Enable MSP on corresponding UART that M9N-F4 connected,  DO NOT enable “GPS” on that UART.   select Baudrate 115200.
  • feature GPS
  • set gps_provider = MSP
  • set mag_hardware = MSP
  • set baro_hardware = MSP
  • set align_mag = CW90,   if compass is mounted flat with arrow facing forward, and flight controller arrow is facing forward also.

 

 

 

 

 

ArduPilot Plane/Copter/Rover:  MatekF405-CAN
INav Target MATEKF405CAN

ArduPilot INAV Plane INAV MultiRotor
PWM S1 PC6 TIM8 TIM8_CH1 PWM1 GPIO50 Servo Motor
S2 PC7 TIM8_CH2 PWM2  GPIO51
S3 PC8 TIM8_CH3 PWM3 GPIO52
S4 PC9 TIM8_CH4 PWM4 GPIO53
S5 PB0 TIM3 TIM3_CH3 PWM5 GPIO54
S6 PB1 TIM3_CH4 PWM6 GPIO55
S7 PB6 TIM4 TIM4_CH1 PWM7 GPIO56 Motor
S8 PB7 TIM4_CH2 PWM8 GPIO57
LED
JST-SH-3P
PA15 TIM2 TIM2_CH1 PWM9 GPIO58
2812LED
2812LED 2812LED
TX2 PA2 TIM5 TIM5_CH3 softserial1_Tx
ADC Vbat pad PC0 0~69V
1K:20K divider builtin
BATT_VOLT_PIN
BATT_VOLT_MULT
10
21.0
 ADC_CHANNEL_1
Curr pad PC1 0~3.3V BATT_CURR_PIN 11 ADC_CHANNEL_2
Rssi pad PC2 0~3.3V RSSI_ANA_PIN 12 ADC_CHANNEL_3
Airs pad PC3 0~3.3V ARSPD_PIN 4 ADC_CHANNEL_4
PC5 pad PC5 0~3.3V BATT2_VOLT_PIN 15
UART USB PA11/PA12 USB SERIAL0 console
TX1 RX1 PA9/PA10 UART1 SERIAL1 telem1 USER
TX3 RX3 PC10/PC11 UART3 SERIAL2 USER USER
TX4 RX4 PA0/PA1 UART4 SERIAL3 GPS1
on-board M9N
on-board M9N
TX5 RX5 PC12/PD2 UART5 SERIAL4 USER USER
TX2 RX2 PA2/PA3 TX2 RX2 SERIAL5 CRSF CRSF
TX2 SRXL2 SRXL2
softserial1_Tx
RX2 IBUS/DSM/PPM IBUS/DSM/PPM
Sbus SBUS SBUS
I2C2 SCL/SDA
GH connector
PB10/PB11 on-board DPS310 Address 0x76
on-board QMC5883L COMPASS_AUTODEC 1 M9N-F4-5883
set align_mag = CW270FLIP
MS4525
DLVR-L10D
ARSPD_TYPE 1
9
SPI2 on-board RM3100 COMPASS_AUTODEC 1 M9N-F4-3100
set align_mag = CW180
CAN CAN1 PB8/PB9 F103/F303/F405
CAN Node
CAN_D1_PROTOCOL
CAN_P1_DRIVER
1
1
 /
CAN GPS GPS_TYPE 9  /
CAN Compass COMPASS_TYPEMASK 0  /
CAN Airspeed sensor ARSPD_TYPE 8  /
LED LED0 Blue FC status
LED1 Green FC status
LED2 Red 3v3 power
PPS Green GPS 3D fix
JST-SH LED pin External 2812 LED
Buzzer Buz-  Passive buzzer  –
5V  Passive buzzer +

 

Weight 0.3 kg
Dimensions 20 × 25 × 5 cm
Main Brands

Matek

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