• 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.