# AP\_PERIPH CAN NODE RM3100

## Link zum Premium-Modellbau Shop

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Matek AP\_PERIPH CAN RM3100 Kompass für Ardupilot AP Periph - CAN-L4-3100 im Premium-Modellbau Shop
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**CAN Node mit RM3100 Kompass**

Weitere Informationen finden Sie auch hier:

<https://ardupilot.org/dev/docs/ap-peripheral-landing-page.html>

### **Ausführliche Informationen und Technische Daten:**&#x20;

* CAN-L4-3100 is a professional grade CAN Magnetometer based on RM3100 & ArudPilot AP\_Periph firmware.
* RM3100 sensor technology provides high resolution, low power consumption, large signal noise immunity, a large dynamic range, and high sampling rates. Measurements are stable over temperature and inherently free from offset drift.

#### **Specifications**

* PNI RM3100 Geomagnetic Sensor
* CAN node MCU: STM32L431xC, 256KB Flash
* Interface
  * CAN, DroneCAN Protocol
  * UART2, MSP output (MatekL431-Periph fw)
  * UART3, for external GNSS module
  * ST debug, SWCLK & SWDIO
* LED
  * Blue, Fast blinking, Booting
  * Blue, Slow blinking, working
  * Red, 3.3V indicator
* Power supply for CAN-L4-3100 board : **4.5\~5.5V @5V pad/pin**
* Power consumption: 22mA
* Operating Temperatures: -40\~85 °C
* Physical
  * Board Size: 36mm\*25mm\*10mm. 6g
  * 3D File [CAN-L4-3100\_step.zip](https://www.mateksys.com/Downloads/other/CAN-L4-3100_step.zip)
* Firmware
  * ArduPilot AP\_Periph: **MatekL431-GPS or MatekL431-Periph**
  * Update via DroneCAN GUI Tool or Mission Planner (AP\_Periph.bin)
  * Update via STLink (AP\_Periph\_with\_bl.hex)
* Parameters
  * CAN\_P1\_DRIVER = 1 if attached to CAN bus1 port or CAN\_P2\_DRIVER = 1 if attached to CAN bus2 port
  * COMPASS\_AUTODEC = 1

#### **Packing**

* 1x CAN-L4-3100 board
* 1x JST-GH-4P to JST-GH-4P 20cm silicon wire

#### **Tips**

* CAN-L4-3100 is pre-installed with “**MatekL431-GPS**” firmware.
* MSP feature is disabled in “MatekL431-GPS”. If you want to use MSP feature, reflash it with “MatekL431-Periph” firmware(AP\_Periph\_with\_bl.hex) over SWC/SWD pads via ST-LINK.
* Put magnetometer far from power lines/ESC/motors/iron based material. >=10cm
* 2 ears for mounting can be cut off if you don’t need it.
* If the CAN wires are too long, bridge the “120R” jumper.