# M9N-G4-3100 **Artikelnr.:** PM-5808 | **HAN:** M9N-G4-3100 [Zum Premium-Modellbau Shop](https://www.premium-modellbau.de/search?sSearch=PM-5808) ![Matek M9N-G4 AP\_Periph Ublox GPS und Kompass Modul M9N CAN BUS](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/M9N-F4_layout.jpg) ## **Matek M9N-F4 AP\_Periph Ublox GPS und Kompass Modul M9N CAN BUS - M9N-F4-3100 Version** Matek Ublox GPS (NEO-M9N Multiband!) und Kompass Modul mit CAN BUS Node und vielen weiteren Features. **Version: M9N-F4-3100** * M9N-F4 series is based on ArudPilots’ AP\_Periph firmware, It is a GNSS+COMPASS+BAROMETER+IMU peripheral with CAN/UAVCAN and UART/MSP interfaces, plus 4x spare UARTs, 1x I2C expansion bus for additional peripherals. * M9N-F4 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. * M9N-F4-3100 integrates an industrial-grade compass PNI RM3100 which provides high resolution, low power consumption, no hysteresis, large dynamic range, and high sampling rates. * M9N-F4 series is not just a AP\_Periph with full AHRS sensors. It can also work as a flight controller with 9 PWM outputs. ### **Specifications** * GNSS [u-blox NEO-M9N](https://www.u-blox.com/en/product/neo-m9n-module) (GPS, GLONASS, Galileo and BeiDou * (M9N-F4-3100) * Magnetic Compass QMC5883L (M9N-F4-5883) * Barometer DPS310 * IMU ICM20602 * MCU STM32F405RGT6 * MicroSD socket * Patch GNSS Antenna 25\*25\*4mm * 4x spare UARTs(1,2,3,5), UART4 for onboard NEO-M9N * 1x CAN, UAVCAN Protocol * 8x PWM +1x 2812LED outputs * 1x I2C, onboard DPS310 & QMC5883L(M9N-F4-5883) * MicroUSB and DFU button * Input voltage range: 4.5\~5.3V (5V pad/pin) * Power consumption: 120mA * > Operating Temperatures: -20\~80 °C * M9N-F4-3100, 36mm\*36mm\*12mm, 17.5g * M9N-F4-5883, 36mm\*36mm\*10mm, 17.3g ### **Includes** * 1x M9N-F4-xxxx * 2x JST-GH-4P to JST-GH-4P 20cm silicon wire * 1x JST-SH-3P to JST-SH-3P 8cm silicon wire * Mounting base (1x PCB plate, 4x silicon grommets, 4x Nylon standoffs M3x7, 4x Nylon screws M3\*8) ### **Firmwares** * ArduPilot AP\_Periph: F405-MatekGPS * ArduPilot Plane/Copter/Rover: MatekF405-CAN * INav Target: MATEKF405CAN ### **Tips & warning** * **on M9N-F4-3100, 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.** * **M9N-F4 series don’t have 5V regulator built-in, they must be powered by external 5V source(4.5\~5.3V) over any 5V pad/pins. Vbat pad supports battery voltage detection only.AP\_Periph mapping** * **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 + | | | | **AP\_Periph UAVCAN & MSP** #### **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-CANMission 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)* * *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) * 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.* **FC mapping** | | | | | | | | | | ----------------------------------------------------------------------- | -------------------- | --------------------- | -------------------------------------- | --------------------------------- | --------------- | ---------------------------------- | ------------------- | | **ArduPilot Plane/Copter/Rover: MatekF405-CANINav 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 + | | | | | | * M9N-F4 series don’t have MAX7456/AT6456 OSD chip integrated. If you use M9N-F4-xxxx as a flight controller. you might use DJI FPV OSD or FrskyOSD module. * STEP & 3D PDF [M9N-F4\_STEP\_PDF.zip](https://www.mateksys.com/Downloads/other/M9N-F4_STEP_PDF.zip) * Firmware update, Connect the USB to the PC While holding the DFU/boot button in. then flash Ardupilot(xxxx\_with\_bl.hex) or INAV firmware via STM32CubeProgrammer or INAV configurator. ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/M9N-F4_layout.jpg) ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/M9N-F4_OSD.jpg)