Matek M9N-CAN GNSS (GPS, GLONASS, Galileo and BeiDou) UAVCAN & MSP

• 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.

Specifications

• 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

• Input voltage range: 4~6V (5V pad/pin)
• Power consumption: 100mA
• Operating Temperatures: -20~80 °C

• 32mm*32mm*10mm
• 15g

Includes

• 1x M9N-CAN
• 2x JST-GH-4P to JST-GH-4P 20cm silicon wire

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.

Pinout & Pads

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

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”

• MSRP: USD54.99
• ETA: End Oct.