M9N-G4-3100
Artikelnr.: PM-5808 | HAN: M9N-G4-3100
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 (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
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.
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