Matek M9N-CAN GPS GNSS w/ Compass, Barometer, UAVCAN & MSP

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M9N-CAN is based on ArudPilots’ AP_Pheriph firmware, It is a GNSS+COMPASS+BAROMETER peripheral with CAN/UAVCAN and UART/MSP interfaces to the autopilot, plus an I2C expansion bus for additional peripherals, such as airspeed sensors. M9N-CAN uses multi-constellation GNSS powered by u-blox NEO-M9N , NEO-M9N 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.

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Specifications

  • Input voltage range: 4~6V (5V pad/pin)
  • Power consumption: 100mA
  • Operating Temperatures: -20~80 °C
  • Dimension: 32mm*32mm*10mm
  • Weight: 15g

Includes

1x Matek M9N-CAN, UAVCAN & MSP

* GNSS u-blox NEO-M9N (GPS, GLONASS, Galileo and BeiDou)

* Magnetic Compass QMC5883L

* Barometer DPS310

* ArduPilot AP_Periph F303 CAN node


* UART1, Firmware update

* UART2, onboard NEO-M9N

* UART3, MSP Protocol

* CAN, UAVCAN Protocol

* I2C, onboard QMC5883L & DPS310

* I2C JST-GH connector, external AirSpeed sensor


* CAN bootloader LED, Blue

   * Fast blinking,  No communication between CAN node and Flight Controllers

   * Slow blinking, Communicating between CAN node and Flight Controllers

* GNSS PPS LED, Green

   * blinking(1Hz) when GNSS has 3D fixed


Pinout & Pads

GH-4P Pin Signal Wires color Pads Signal
5V 4~6V input Red 3V3 onboard LDO output
C-H CAN high Yellow 5V 4~6V input
C-L CAN low Blue G GND
G GND Black Tx1 UART1-TX
Rx1 UART1-RX
5V 4~6V input Red Rs F303 NRST
SCL I2C-SCL Yellow C F303 SWCLK
SDA I2C-SDA Blue G GND
G GND Black D F303 SWDIO
3 onboard LDO output 3.3V
5V 4~6V input Red Bt F303 Boot pin
Tx3 UART3-TX Yellow
Rx3 UART3-RX Blue
G GND Black

UAVCAN Parameters

* CAN_D1_PROTOCOL -> 1

* CAN_P1_DRIVER -> 1

* GPS_TYPE -> 9 (UAVCAN)

* COMPASS_TYPEMASK -> 0 (make sure UAVCAN Unchecked)


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

* MS5525   ARSP_TYPE -> 3    supports MS5525 with address 0x77 only

* SDP3X     ARSP_TYPE -> 6

* DLVR-L10D    ARSP_TYPE -> 9 (default in hwdef)

* Write and reboot


ArduPilot (latest firmware after Sep.09)

* Serialx_PROTOCOL  = 32  (MSP) where x is the SERIAL port used for connection on autopilot.

* GPS TYPE = 19 (MSP)

* GND_PROBE_EXT  = 4096  (MSP Baro)

* GND_PRIMARY = 1  (If you want to use MSP baro as primary baro, otherwise leave as default)

* COMPASS_TYPEMASK  0   (make sure MSP bit is not checked)


INAV  (since 2.6)

* In ports tab, Enable MSP on corresponding UART that M9N-CAN connected

* feature GPS

* set gps_provider = MSP

* set mag_hardware = MSP

* set baro_hardware = MSP

STL and STEP:

M9N-CAN_step.zip

M9N-CAN_shell_STL.zip

* ArduPilot hwdef  f303-MatekGPS

https://ardupilot.org/copter/docs/common-matek-m8q.html

* Firmware  https://firmware.ardupilot.org/AP_Periph/latest/f303-MatekGPS/

1. Update firmware in STM32CubeProgrammer with  “AP_Periph_with_bl.hex”

Tool https://www.st.com/en/development-tools/stm32cubeprog.html

You may download it from our server  en.stm32cubeprog_v2-3-0.zip

2.  If you have a flight controller with CAN port,  you can connect M9N-CAN to Flight controller via CAN,  then update firmware in Mission Planner with  “AP_Periph.bin”


Tips:

* Compass Alignment(Arrow forward and flat mounting):

   Ardupilot/Mission Planner: Rotation None

* Make sure to have compass/magnetometer 10cm away from power lines/ESC/motors/iron based material

 

* The scratches on ceramic antenna are the result of tuning the antenna.

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