Matek AP Periph GNSS M9N-F4-3100 GPS

• M9N-F4 series is based on ArudPilots’ AP_Periph firmware, It is a GNSS+COMPASS+BAROMETER+IMU peripheral with CAN/UAVCAN and UART/MSP interfaces, plus 4x spare UARTs, 1x I2C expansion bus for additional peripherals.
• M9N-F4 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.
• M9N-F4-3100 integrates an industrial-grade compass PNI RM3100 which provides high resolution, low power consumption, no hysteresis, large dynamic range, and high sampling rates.
• M9N-F4 series is not just a AP_Periph with full AHRS sensors. It can also work as a flight controller with 9 PWM outputs.

Specifications

• GNSS u-blox NEO-M9N (GPS, GLONASS, Galileo and BeiDou)
• Magnetic Compass RM3100 (M9N-F4-3100)
• Magnetic Compass QMC5883L (M9N-F4-5883)
• Barometer DPS310
• IMU ICM20602
• MCU STM32F405RGT6
• MicroSD socket
• Patch GNSS Antenna 25*25*4mm

• 4x spare UARTs(1,2,3,5), UART4 for onboard NEO-M9N
• 1x CAN, UAVCAN Protocol
• 8x PWM +1x 2812LED outputs
• 1x I2C, onboard DPS310 & QMC5883L(M9N-F4-5883)
• MicroUSB and DFU button

• Input voltage range: 4.5~5.3V (5V pad/pin)
• Power consumption: 120mA
• Operating Temperatures: -20~80 °C

• M9N-F4-3100, 36mm*36mm*12mm, 17.5g
• M9N-F4-5883, 36mm*36mm*10mm, 17.3g

Includes

• 1x M9N-F4-xxxx
• 2x JST-GH-4P to JST-GH-4P 20cm silicon wire
• 1x JST-SH-3P to JST-SH-3P 8cm silicon wire
• Mounting base (1x PCB plate, 4x silicon grommets, 4x Nylon standoffs M3x7, 4x Nylon screws M3*8)

Firmwares

• ArduPilot AP_Periph: F405-MatekGPS
• ArduPilot Plane/Copter/Rover: MatekF405-CAN
• INav Target: MATEKF405CAN

Tips & warning

• on M9N-F4-3100, 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.
• M9N-F4 series don’t have 5V regulator built-in, they must be powered by external 5V source(4.5~5.3V) over any 5V pad/pins. Vbat pad supports battery voltage detection only.

• AP_Periph: F405-MatekGPS

CAN Connection

• M9N-F4 5V — FC 4.5V ~ 5.3V
• M9N-F4 CAN-H — FC CAN High
• M9N-F4 CAN-L — FC CAN Low
• M9N-F4 G — FC G/GND

FC UAVCAN Parameters

• CAN_D1_PROTOCOL -> 1
• CAN_P1_DRIVER -> 1
• GPS_TYPE -> 9 (UAVCAN)
• COMPASS_TYPEMASK -> 0 (make sure UAVCAN Unchecked)
• NTF_LED_TYPES -> (make sure UAVCAN checked)

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 (default in hwdef)
• MS5525 ARSP_TYPE -> 3 supports MS5525 with address 0x77 only
• SDP3X ARSP_TYPE -> 6
• DLVR-L10D ARSP_TYPE -> 9
• Write and reboot

*** I2C peripherals don’t support hot plug. Airspeed sensor and Flight controller must be turned on together.

MSP Connection

• M9N-F4 5V — FC 4.0V ~ 5.3V
• M9N-F4 TX5 — FC spare UART_RX
• M9N-F4 RX5 — FC spare UART_TX (not essential)
• M9N-F4 G — FC G/GND

FC MSP Parameters (ArduPilot 4.1.x)

• 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)
• 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)

• M9N-F4 is compatible with any flight controller supported by INAV over a spare UART.
• In ports tab, Enable MSP on corresponding UART that M9N-F4 connected, DO NOT enable “GPS” on that UART. select Baudrate 115200.
• feature GPS
• set gps_provider = MSP
• set mag_hardware = MSP
• set baro_hardware = MSP
• set align_mag = CW90, if compass is mounted flat with arrow facing forward, and flight controller arrow is facing forward also.

• STEP & 3D PDF M9N-F4_STEP_PDF.zip
• Firmware update, Connect the USB to the PC While holding the DFU/boot button in. then flash Ardupilot(xxxx_with_bl.hex) or INAV firmware via STM32CubeProgrammer or INAV configurator.