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

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

GNSS M9N-CAN, UAVCAN & MSP

AP F303 CAN node, NEO-M9N, QMC5881L, DPS310, I2C, UART1 & UART3 breakout. UAVCAN protocol & UART_MSP

Gallery

Specifications

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

GH-4P Pin	Signal	Wires color	Pads	Signal
5V	4~6V input	Red	3V3	onboard LDO output
C-H	CAN high	Yellow	5V	4~6V input
C-L	CAN low	Blue	G	GND
G	GND	Black	Tx1	UART1-TX
			Rx1	UART1-RX
5V	4~6V input	Red	Rs	F303 NRST
SCL	I2C-SCL	Yellow	C	F303 SWCLK
SDA	I2C-SDA	Blue	G	GND
G	GND	Black	D	F303 SWDIO
			3	onboard LDO output 3.3V
5V	4~6V input	Red	Bt	F303 Boot pin
Tx3	UART3-TX	Yellow
Rx3	UART3-RX	Blue
G	GND	Black

Wiring

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

MSP Parameters

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)