AP-Flight Control Modules-FlyChain Digital Limited (Hong Kong)

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AP_Periph G474 CAN node, NEO-M9N GNSS module, RM3100, DroneCAN protocol & UART_MSP, compatible with CAN FD

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Product Parameter

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)

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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.

AP_Periph DroneCAN GNSS M9N-G4-3100

AP_Periph G474 CAN node, NEO-M9N GNSS module, RM3100, DroneCAN protocol & UART_MSP, compatible with CAN FD

Note

No barometer integrated.
Depending on the components supply, we are using STM32G474CEU6 (UFQFPN48) or STM32G474CET6 (LQFP48) as CAN Node MCU in different batches of M9N-G4-3100. MCU performance is the same in both packages.

Photo

Specifications

M9N-G4-3100 is based on ArudPilots’ AP_Periph firmware, It is a GNSS+COMPASS peripheral with CAN/DroneCAN and UART/MSP interfaces.
M9N-G4-3100 uses multi-constellation GNSS powered by M9 series , It 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-G4-3100 integrates an industrial-grade compass PNI RM3100 which provides high resolution, low power consumption, no hysteresis, large dynamic range, and high sampling rates.
G474 CAN node is compatible with CAN FD(5 Mbps) & CAN 2.0 (1 Mbps)

Specifications

GNSS M9N series (GPS, GLONASS, Galileo and BeiDou)
Magnetic Compass RM3100
Patch GNSS Antenna 25*25*4mm
MCU STMG474CE, 170MHz

UART2, onboard M9N GNSS module
UART3(TX3), MSP Protocol
CAN, DroneCAN Protocol
USB, for firmware update in G474 DFU mode

CAN bootloader LED, Blue
- Fast blinking, Booting
- Slow blinking, working
GNSS PPS LED, Green
- Green LED OFF after powering on
- blinking(1Hz) when GNSS has 3D fixed
3.3V LED, Red

Input voltage range: 4.5~5.5V (5V pad/pin)
Power consumption: 100mA
Operating Temperatures: -20~80 °C

36mm*36mm*12mm
16g
M9N-G4-3100_step.zip

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

Includes

1x M9N-G4-3100
1x JST-GH-4P to JST-GH-4P 20cm silicon wire
Mounting base (1x PCB plate, 4x silicon grommets, 4x Nylon standoffs M3x7, 4x Nylon screws M3*8)

Tips and Notes

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.

DroneCAN & MSP Parameters