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Matek AP_Periph GNSS M9N-F4-5883 GPS RM3100 Compass DPS310 Baro
Opis
GPS M9N, kompas RM3100, DPS310 Baro
Zasilanie 5V
Wymiary : 36x36mm
Waga: 18g
Layout & spec.
- 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)
- Magnetic Compass RM3100 (M9N-F4-3100)
- 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
- 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
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 sensing only.
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 (UAVCAN protocol) 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(ArduPilot)
- 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.
UART (MSP protocol) 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
ArduPilot (since 4.1.x) FC Parameters
- 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) FC Parameters
- 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-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 + | ||||||
OSD Solutions
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.
Others
-
- 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.
M8N M7N CAN