AP_Periph DroneCAN Magnetometer RM3100

RM3100, DroneCAN protocol

NOTIFICATION

Recently we have noticed that there are fake CAN-L4-3100 on market. If you are unsure if the CAN-L4-3100 purchased is genuine, you can send some high res photos of both sides of the flight controller board and the packing to service@mateksys.com. We will check out it for you.

Please purchase our products from authorized dealers https://www.mateksys.com/?page_id=1212

Gallery

Specifications, Tips

CAN-L4-3100 is a professional grade CAN Magnetometer based on RM3100 & ArudPilot AP_Periph firmware.
RM3100 sensor technology provides high resolution, low power consumption, large signal noise immunity, a large dynamic range, and high sampling rates. Measurements are stable over temperature and inherently free from offset drift.

Specifications

PNI RM3100 Geomagnetic Sensor
CAN node MCU: STM32L431xC, 256KB Flash

Interface
- CAN, DroneCAN Protocol
- UART2, MSP output (MatekL431-Periph fw)
- UART3, for external GNSS module
- ST debug, SWCLK & SWDIO

LED
- Blue, Fast blinking, Booting
- Blue, Slow blinking, working
- Red, 3.3V indicator

Power supply for CAN-L4-3100 board : 4.5~5.5V @5V pad/pin
Power consumption: 22mA
Operating Temperatures: -40~85 °C

Physical
- Board Size: 36mm*25mm*10mm. 6g
- 3D File CAN-L4-3100_step.zip

Firmware
- ArduPilot AP_Periph: MatekL431-GPS or MatekL431-Periph
- Update via DroneCAN GUI Tool or Mission Planner (AP_Periph.bin)
- Update via STLink (AP_Periph_with_bl.hex)

Parameters
- CAN_P1_DRIVER = 1 if attached to CAN bus1 port or CAN_P2_DRIVER = 1 if attached to CAN bus2 port
- COMPASS_AUTODEC = 1

Packing

1x CAN-L4-3100 board
1x JST-GH-4P to JST-GH-4P 20cm silicon wire

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.

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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.