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Matek Systems GNSS M9N-CAN GNSS Ublox NEO-M9N Compass QMC5883L UAVCAN GPS Module Support GLONASS Galileo Beidou for FPV RC Racing Drone


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                  Matek Systems GNSS M9N-CAN GNSS Ublox NEO-M9N Compass QMC5883L UAVCAN GPS Module Support GLONASS Galileo Beidou for FPV RC Racing Drone

                  * 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.


                  Brand: Matek Systems

                  Model: GNSS M9N-CAN

                  Item: GPS Module

                  Input voltage range: 4~6V (5V pad/pin)

                  Power consumption: 100mA

                  Operating Temperatures: -20~80 °C

                  Dimension: 32mm*32mm*10mm

                  Weight: 15g

                  * 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

                  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

                  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

                  STL and STEP:



                  * ArduPilot hwdef  f303-MatekGPS


                  * Firmware

                  1. Update firmware in STM32CubeProgrammer with  “AP_Periph_with_bl.hex”


                  You may download it from our server

                  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”


                  * 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.

                  Package included:

                  1x M9N-CAN

                  2x JST-GH-4P to JST-GH-4P 20cm silicon wire

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