Achieve absolute flight precision and reliability with AP_Periph DroneCAN GNSS, M9N-G4-3100

The AP_Periph DroneCAN GNSS, M9N-G4-3100 is an advanced navigation device based on the stable AP_Periph firmware from ArduPilot, combining a multi-system GNSS receiver with an industrial-grade compass. Thanks to its advanced RF architecture, the module allows for the simultaneous tracking of four major constellations: GPS, Galileo, GLONASS, and BeiDou. The integrated, high-resolution PNI RM3100 magnetic sensor guaranteeing precise heading readings. At the heart of the system is a powerful G474 microcontroller compatible with the ultra-fast CAN FD protocol (up to 5 Mbps), ensuring lightning-fast, lag-free communication. Choose the AP_Periph DroneCAN GNSS, M9N-G4-3100 and gain full control over your vehicle in any conditions.

Tips and Notes of AP_Periph DroneCAN GNSS, M9N-G4-3100

• On M9N-G4-3100, 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.
• Start with ubx GNSS FW3.01, timepulse is aligned with UTC time and that time is set valid only after leap second is downloaded. That could take up to 12.5 min. Probably PPS LED will not blink immediately after GPS has 3D fixed.
• The M9N-G4-3100 provides the ability to reset the receiver. Bridging “M9N-RST” pad to Ground for at least 100 ms will trigger a cold start. RESET will delete all information and trigger a cold start. It should only be used as a recovery option.
• No barometer integrated.

Firmwares

• ArduPilot AP_Periph: MatekG474-GPS  or MatekG474-Periph
• Update via DroneCAN GUI Tool or Mission Planner–DroneCAN Tab, load AP_Periph.bin
• Update in G474 DFU mode via USB & STM32CubeProgrammer, load AP_Periph_with_bl.hex

Useful Information for AP_Periph DroneCAN GNSS, M9N-G4-3100

CAN (UAVCAN protocol) Connection

• M9N-G4-3100 5V — FC  4V ~ 6V
• M9N-G4-3100 CAN-H — FC  CAN High
• M9N-G4-3100 CAN-L — FC  CAN Low
• M9N-G4-3100 G — FC  G/GND

FC UAVCAN Parameters(ArduPilot)

• CAN_D1_PROTOCOL -> 1
• CAN_P1_DRIVER -> 1
• GPS_TYPE -> 9 (DroneCAN)
• COMPASS_TYPEMASK -> 0 (make sure DroneCAN Unchecked)

UART (MSP protocol) Connection

• M9N-G4-3100 5V — FC 4V ~ 6V
• M9N-G4-3100 TX3 — FC  spare UART_RX
• M9N-G4-3100 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)
• COMPASS_TYPEMASK  0   (or make sure MSP bit is not checked)

INAV (since 2.6) FC Parameters

• M9N-G4-3100 is compatible with any flight controller supported by INAV over a spare UART.
• In ports tab, Enable MSP on corresponding UART that M9N-G4-3100 connected,  DO NOT enable “GPS” on that UART.   select Baudrate 115200.
• feature GPS
• set gps_provider = MSP
• set mag_hardware = MSP
• set align_mag = CW90,   if compass is mounted flat with arrow facing forward, and flight controller arrow is facing forward also.