(EOL)AP_Periph GNSS M9N-F4 series

AP_Periph GNSS M9N-F4 series

AP_Periph F405 CAN node, NEO-M9N, QMC5881L/RM3100, DPS310, ICM20602, I2C, UAVCAN protocol & UART_MSP

Firmwares

Substitute

M10-L4-3100 is a substitute for M9N-F4-3100. M10-L4-3100 page

M9N-F4-3100

M9N-F4-5883

Layout & Spec.

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 sensing only.

AP_Periph mapping

AP_Periph: F405-MatekGPS

Mission Planner > Initial Setup > Optional Hardware > UAVCAN > SLCan Mode CAN1 > Parameters				SLCAN Parameters
PWM	S1	PC6	TIM8_CH1	OUT1
	S2	PC7	TIM8_CH2	OUT2
	S3	PC8	TIM8_CH3	OUT3
	S4	PC9	TIM8_CH4	OUT4
	S5	PB0	TIM3_CH3	OUT5
	S6	PB1	TIM3_CH4	OUT6
	S7	PB6	/	/
	S8	PB7	/	/
	LED JST-SH-3P connector	PA15	TIM2_CH1	2812 LED OUT7_FUNCTION 120 NTF_LED_TYPES 455

ADC	Vbat pad	PC0	0~69V 1K:20K divider builtin	BATT_MONITOR 4 BATT_VOLT_PIN 10 BATT_VOLT_MULT 21
	Curr pad	PC1	0~3.3V	BATT_CURR_PIN 11
	PC5 pad	PC5	0~3.3V	BATT_MONITOR 4 BATT2_VOLT_PIN 15

UART	TX1 RX1	UART1	PORT0	USER
	TX2 RX2	UART2	PORT1	USER
	TX3 RX3	UART3	PORT2	USER
	TX4 RX4	UART4	PORT3	GPS_PORT 3 on-board M9N
	TX5 RX5	UART5	PORT4	MSP_PORT 4

I2C2	SCL/SDA GH connector	PB10/PB11	on-board DPS310	Address 0x76
			on-board QMC5883L	COMPASS_AUTODEC 1
			MS4525 DLVR-L10D	ARSP_TYPE 1 (Default) ARSP_TYPE 9
SPI2			on-board RM3100

LED	LED0	Blue	Bootloader
	LED1	Green	/
	LED2	Red	3v3 power
	PPS	Green	GPS 3D fix
	JST-SH LED pin	External 2812 LED
Buzzer	Buz-	Passive buzzer –
Buzzer	5V	Passive buzzer +

AP_Periph UAVCAN & MSP

CAN (UAVCAN protocol) 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(ArduPilot)

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.

UART (MSP protocol) 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

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)
BARO_PROBE_EXT = 4096 (MSP Baro)
BARO_PRIMARY = 1 (If you want to use MSP baro as primary baro, otherwise leave as default)
COMPASS_TYPEMASK 0 (or make sure MSP bit is not checked)

INAV (since 2.6) FC Parameters

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.

FC mapping

ArduPilot Plane/Copter/Rover: MatekF405-CAN INav Target MATEKF405CAN					ArduPilot	INAV Plane	INAV MultiRotor
PWM	S1	PC6	TIM8	TIM8_CH1	PWM1 GPIO50	Servo	Motor
	S2	PC7		TIM8_CH2	PWM2 GPIO51
	S3	PC8		TIM8_CH3	PWM3 GPIO52
	S4	PC9		TIM8_CH4	PWM4 GPIO53
	S5	PB0	TIM3	TIM3_CH3	PWM5 GPIO54
	S6	PB1	TIM3	TIM3_CH4	PWM6 GPIO55
	S7	PB6	TIM4	TIM4_CH1	PWM7 GPIO56	Motor
	S8	PB7	TIM4	TIM4_CH2	PWM8 GPIO57	Motor
	LED JST-SH-3P	PA15	TIM2	TIM2_CH1	PWM9 GPIO58 2812LED	2812LED	2812LED
	TX2	PA2	TIM5	TIM5_CH3		softserial1_Tx

ADC	Vbat pad	PC0	0~69V 1K:20K divider builtin	BATT_VOLT_PIN BATT_VOLT_MULT	10 21.0	ADC_CHANNEL_1
	Curr pad	PC1	0~3.3V	BATT_CURR_PIN	11	ADC_CHANNEL_2
	Rssi pad	PC2	0~3.3V	RSSI_ANA_PIN	12	ADC_CHANNEL_3
	Airs pad	PC3	0~3.3V	ARSPD_PIN	4	ADC_CHANNEL_4
	PC5 pad	PC5	0~3.3V	BATT2_VOLT_PIN	15

UART	USB	PA11/PA12	USB	SERIAL0	console
	TX1 RX1	PA9/PA10	UART1	SERIAL1	telem1	USER
	TX3 RX3	PC10/PC11	UART3	SERIAL2	USER	USER
	TX4 RX4	PA0/PA1	UART4	SERIAL3	GPS1 on-board M9N	on-board M9N
	TX5 RX5	PC12/PD2	UART5	SERIAL4	USER	USER
	TX2 RX2	PA2/PA3	TX2 RX2	SERIAL5	CRSF	CRSF
			TX2		SRXL2	SRXL2 softserial1_Tx
			RX2		IBUS/DSM/PPM	IBUS/DSM/PPM
			Sbus		SBUS	SBUS

I2C2	SCL/SDA GH connector	PB10/PB11	on-board DPS310	Address	0x76
			on-board QMC5883L	COMPASS_AUTODEC	1	M9N-F4-5883 set align_mag = CW270FLIP
			MS4525 DLVR-L10D	ARSPD_TYPE	1 9
SPI2			on-board RM3100	COMPASS_AUTODEC	1	M9N-F4-3100 set align_mag = CW180

CAN	CAN1	PB8/PB9	F103/F303/F405 CAN Node	CAN_D1_PROTOCOL CAN_P1_DRIVER	1 1	/
			CAN GPS	GPS_TYPE	9	/
			CAN Compass	COMPASS_TYPEMASK	0	/
			CAN Airspeed sensor	ARSPD_TYPE	8	/

LED	LED0	Blue	FC status
	LED1	Green	FC status
	LED2	Red	3v3 power
	PPS	Green	GPS 3D fix
	JST-SH LED pin		External 2812 LED
Buzzer	Buz-		Passive buzzer –
Buzzer	5V		Passive buzzer +

OSD solution

Others

Resellers

M9N-F4-3100

M9N-F4-5883 (EOL)