Gain Absolute Directional Precision and Flight Stability Under All Conditions with AP_Periph CAN Magnetometer RM3100

The AP_Periph CAN Magnetometer RM3100 is a top-tier digital compass designed for professional and demanding amateur unmanned aerial vehicle (UAV) projects. Featuring the flagship PNI RM3100 geomagnetic sensor technology, this module guarantees the highest measurement resolution and excellent resistance to electromagnetic interference generated by motors or ESCs. Utilizing the modern DroneCAN communication protocol, this advanced component integrates directly with the flight controller, completely eliminating the susceptibility to noise and voltage drops typical of older I2C buses. By choosing the AP_Periph CAN Magnetometer RM3100, you are opting for uncompromising mission safety.

Key Features of AP_Periph CAN Magnetometer RM3100

• Industrial-grade PNI RM3100 sensor: Offers unprecedented sensitivity, low power consumption, and inherent resistance to temperature drift and offset errors.
• Modern DroneCAN protocol: Advanced CAN communication guarantees stable, noise-free data transmission even over long distances in challenging radio environments.
• High-performance STM32L431xC processor: Equipped with a dedicated MCU featuring 256KB Flash memory for smooth and reliable operation of the AP_Periph firmware.
• Expandable interface architecture: Features a built-in UART3 port for convenient connection of an external GNSS/GPS module, and an additional MSP telemetry output (UART2).
• Ultra-lightweight and well-thought-out design: The entire board weighs just 6g, and detachable mounting ears allow for hassle-free installation in very tight frames.

Tips and Useful Information when Using the AP_Periph CAN Magnetometer RM3100

Tips

• CAN-L4-3100 is pre-installed with “MatekL431-GPS” firmware.
• 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.

​Useful Information

-UART (MSP protocol) Connection

• CAN-L4-3100  5V    — FC 4.0V ~ 5.3V
• CAN-L4-3100  G      — FC  G/GND
• CAN-L4-3100  TX2  — FC  spare UART_RX

-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.
• COMPASS_TYPEMASK  0   (or make sure MSP bit is not checked).

-INAV (since 2.6) FC Parameters

• In ports tab, Enable MSP on corresponding UART that CAN-L4-3100 connected,  DO NOT enable other functions on that UART.   select Baudrate 115200.
• 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.