{"id":12541,"date":"2025-01-07T10:36:54","date_gmt":"2025-01-07T02:36:54","guid":{"rendered":"https:\/\/www.mateksys.com\/?post_type=portfolio&#038;p=12541"},"modified":"2026-01-29T16:32:10","modified_gmt":"2026-01-29T08:32:10","slug":"m9n-g4-3100","status":"publish","type":"portfolio","link":"https:\/\/www.mateksys.com\/?portfolio=m9n-g4-3100","title":{"rendered":"AP_Periph CAN GNSS, M9N-G4-3100"},"content":{"rendered":"\n<style type=\"text\/css\" data-created_by=\"avia_inline_auto\" id=\"style-css-av-m59kxjfp-505553a5c0c0f1b2c9a18499ce9a0b31\">\n#top .av-special-heading.av-m59kxjfp-505553a5c0c0f1b2c9a18499ce9a0b31{\npadding-bottom:10px;\n}\nbody .av-special-heading.av-m59kxjfp-505553a5c0c0f1b2c9a18499ce9a0b31 .av-special-heading-tag .heading-char{\nfont-size:25px;\n}\n.av-special-heading.av-m59kxjfp-505553a5c0c0f1b2c9a18499ce9a0b31 .av-subheading{\nfont-size:15px;\n}\n<\/style>\n<div  class='av-special-heading av-m59kxjfp-505553a5c0c0f1b2c9a18499ce9a0b31 av-special-heading-h2 blockquote modern-quote modern-centered  avia-builder-el-0  el_before_av_slideshow  avia-builder-el-first '><h2 class='av-special-heading-tag'  itemprop=\"headline\"  >AP_Periph CAN GNSS M9N-G4-3100<\/h2><div class='av-subheading av-subheading_below'><p>AP_Periph G474 CAN node, NEO-M9N GNSS module, RM3100, DroneCAN protocol &amp; UART_MSP, compatible with CAN FD<\/p>\n<\/div><div class=\"special-heading-border\"><div class=\"special-heading-inner-border\"><\/div><\/div><\/div>\n<div  class='avia-slideshow av-m59kzsow-651cef47a3b46d93e46bafa38adc85ea avia-slideshow-featured_large av_slideshow avia-slide-slider  avia-builder-el-1  el_after_av_heading  el_before_av_icon_box  av-slideshow-ui av-control-default av-slideshow-manual av-loop-once av-loop-manual-endless av-default-height-applied avia-slideshow-1' data-slideshow-options=\"{&quot;animation&quot;:&quot;slide&quot;,&quot;autoplay&quot;:false,&quot;loop_autoplay&quot;:&quot;once&quot;,&quot;interval&quot;:5,&quot;loop_manual&quot;:&quot;manual-endless&quot;,&quot;autoplay_stopper&quot;:false,&quot;noNavigation&quot;:false,&quot;bg_slider&quot;:false,&quot;keep_padding&quot;:false,&quot;hoverpause&quot;:false,&quot;show_slide_delay&quot;:0}\"  itemprop=\"image\" itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/ImageObject\" ><ul class='avia-slideshow-inner ' style='padding-bottom: 40%;'><li  class='avia-slideshow-slide av-m59kzsow-651cef47a3b46d93e46bafa38adc85ea__0  av-single-slide slide-1 slide-odd'><div data-rel='slideshow-1' class='avia-slide-wrap '   ><img fetchpriority=\"high\" class=\"wp-image-12542 avia-img-lazy-loading-not-12542\"  src='https:\/\/www.mateksys.com\/wp-content\/uploads\/2024\/12\/M9N-G4-3100_1.jpg' width='1500' height='600' title='M9N-G4-3100_1' alt=''  itemprop=\"thumbnailUrl\"   \/><\/div><\/li><\/ul><\/div>\n<article  class='iconbox iconbox_left av-m5yy3jjw-56ec02e51be15820455f3889e008d1d7  avia-builder-el-2  el_after_av_slideshow  el_before_av_icon_box '  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class=\"iconbox_content\"><header class=\"entry-content-header\"><div class=\"iconbox_icon heading-color\" aria-hidden='true' data-av_icon='\ue897' data-av_iconfont='entypo-fontello'><\/div><h3 class='iconbox_content_title '  itemprop=\"headline\" >NOTIFICATION<\/h3><\/header><div class='iconbox_content_container '  itemprop=\"text\" ><p><strong>It has recently come to our attention that counterfeit M9N-G4-3100 are circulating in the market.<\/strong><\/p>\n<p>Please purchase our products from authorized dealers\u00a0<a href=\"https:\/\/www.mateksys.com\/?page_id=1212\" target=\"_blank\" rel=\"noopener\">https:\/\/www.mateksys.com\/?page_id=1212<\/a><\/p>\n<\/div><\/div><footer class=\"entry-footer\"><\/footer><\/article>\n<article  class='iconbox iconbox_left av-izm6gt-34faca90ad19e9925b6edbc9bcab9751  avia-builder-el-3  el_after_av_icon_box  el_before_av_tab_container '  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class=\"iconbox_content\"><header class=\"entry-content-header\"><div class=\"iconbox_icon heading-color\" aria-hidden='true' data-av_icon='\ue897' data-av_iconfont='entypo-fontello'><\/div><h3 class='iconbox_content_title '  itemprop=\"headline\" >Note<\/h3><\/header><div class='iconbox_content_container '  itemprop=\"text\" ><ul>\n<li>No barometer integrated.<\/li>\n<li>Depending on the components supply, we are using STM32G474CEU6 (UFQFPN48) or STM32G474CET6 (LQFP48) as CAN Node MCU in different batches of M9N-G4-3100. MCU performance is the same in both packages.<\/li>\n<\/ul>\n<\/div><\/div><footer class=\"entry-footer\"><\/footer><\/article>\n<div  class='tabcontainer av-m59lrkeh-6a679b5037018da2f8ecc3e81d8d9c2c top_tab  avia-builder-el-4  el_after_av_icon_box  avia-builder-el-last ' role='tablist'>\n<section class='av_tab_section av_tab_section av-m59l0kos-c4b6edfda09c3c54b3497615a4bfc154'  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='tab active_tab' role='tab' tabindex='0' data-fake-id='#tab-id-1' aria-controls='tab-id-1-content'  itemprop=\"headline\" >Photo<\/div><div id='tab-id-1-content' class='tab_content active_tab_content' aria-hidden=\"false\"><div class='tab_inner_content invers-color'  itemprop=\"text\" ><p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-12544\" src=\"https:\/\/www.mateksys.com\/wp-content\/uploads\/2024\/12\/M9N-G4-3100_2.jpg\" alt=\"\" width=\"1500\" height=\"1000\" \/><\/p>\n<\/div><\/div><\/section>\n<section class='av_tab_section av_tab_section av-m59lmiky-d9d57cd3a2e72c32bcea932b7e215678'  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='tab' role='tab' tabindex='0' data-fake-id='#tab-id-2' aria-controls='tab-id-2-content'  itemprop=\"headline\" >Specifications<\/div><div id='tab-id-2-content' class='tab_content' aria-hidden=\"true\"><div class='tab_inner_content invers-color'  itemprop=\"text\" ><ul>\n<li>M9N-G4-3100 is based on ArudPilots\u2019 AP_Periph firmware,\u00a0 It is a GNSS+COMPASS peripheral with CAN\/DroneCAN and UART\/MSP interfaces.<\/li>\n<li>M9N-G4-3100 uses multi-constellation GNSS powered by M9 series , It 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.<\/li>\n<li>M9N-G4-3100 integrates an industrial-grade compass PNI RM3100 which provides high resolution, low power consumption, no hysteresis, large dynamic range, and high sampling rates.<\/li>\n<li>G474 CAN node is compatible with CAN FD(5 Mbps) &amp; CAN 2.0 (1 Mbps)<\/li>\n<\/ul>\n<h3><strong>Specifications<\/strong><\/h3>\n<ul>\n<li>GNSS M9N series (GPS, GLONASS, Galileo and BeiDou<span data-slate-fragment=\"JTdCJTIyb2JqZWN0JTIyJTNBJTIyZG9jdW1lbnQlMjIlMkMlMjJkYXRhJTIyJTNBJTdCJTdEJTJDJTIybm9kZXMlMjIlM0ElNUIlN0IlMjJvYmplY3QlMjIlM0ElMjJibG9jayUyMiUyQyUyMnR5cGUlMjIlM0ElMjJwYXJhZ3JhcGglMjIlMkMlMjJpc1ZvaWQlMjIlM0FmYWxzZSUyQyUyMmRhdGElMjIlM0ElN0IlN0QlMkMlMjJub2RlcyUyMiUzQSU1QiU3QiUyMm9iamVjdCUyMiUzQSUyMnRleHQlMjIlMkMlMjJsZWF2ZXMlMjIlM0ElNUIlN0IlMjJvYmplY3QlMjIlM0ElMjJsZWFmJTIyJTJDJTIydGV4dCUyMiUzQSUyMlVTQSUyMChHUFMpJTJDJTIwUnVzc2lhKEdMT05BU1MpJTJDJTIwRXVyb3BlJTIwKEdhbGlsZW8pJTIyJTJDJTIybWFya3MlMjIlM0ElNUIlNUQlN0QlNUQlN0QlNUQlN0QlNUQlN0Q=\">)<\/span><\/li>\n<li>Magnetic Compass <a href=\"https:\/\/www.pnicorp.com\/rm3100\/\" target=\"_blank\" rel=\"noopener\">RM3100<\/a><\/li>\n<li>Patch GNSS Antenna 25*25*4mm<\/li>\n<li>MCU STMG474CE, 170MHz<\/li>\n<\/ul>\n<ul>\n<li>UART2, onboard M9N GNSS module<\/li>\n<li>UART3(TX3), MSP Protocol<\/li>\n<li>CAN, DroneCAN Protocol<\/li>\n<li>USB, for firmware update in G474 DFU mode<\/li>\n<\/ul>\n<ul>\n<li>CAN bootloader LED, Blue\n<ul>\n<li>Fast blinking,\u00a0 Booting<\/li>\n<li>Slow blinking, working<\/li>\n<\/ul>\n<\/li>\n<li>GNSS PPS LED, Green\n<ul>\n<li>Green LED OFF after powering on<\/li>\n<li>blinking(1Hz) when GNSS has 3D fixed<\/li>\n<\/ul>\n<\/li>\n<li>3.3V LED, Red<\/li>\n<\/ul>\n<ul>\n<li><strong>Input voltage range: 4.5~5.5V (5V pad\/pin)<\/strong><\/li>\n<li>Power consumption: 100mA<\/li>\n<li><span data-slate-fragment=\"JTdCJTIyb2JqZWN0JTIyJTNBJTIyZG9jdW1lbnQlMjIlMkMlMjJkYXRhJTIyJTNBJTdCJTdEJTJDJTIybm9kZXMlMjIlM0ElNUIlN0IlMjJvYmplY3QlMjIlM0ElMjJibG9jayUyMiUyQyUyMnR5cGUlMjIlM0ElMjJwYXJhZ3JhcGglMjIlMkMlMjJpc1ZvaWQlMjIlM0FmYWxzZSUyQyUyMmRhdGElMjIlM0ElN0IlN0QlMkMlMjJub2RlcyUyMiUzQSU1QiU3QiUyMm9iamVjdCUyMiUzQSUyMnRleHQlMjIlMkMlMjJsZWF2ZXMlMjIlM0ElNUIlN0IlMjJvYmplY3QlMjIlM0ElMjJsZWFmJTIyJTJDJTIydGV4dCUyMiUzQSUyMk9wZXJhdGluZyUyMFRlbXBlcmF0dXJlcyUyMiUyQyUyMm1hcmtzJTIyJTNBJTVCJTVEJTdEJTVEJTdEJTVEJTdEJTVEJTdE\">Operating Temperatures: -20~80 \u00b0C<\/span><\/li>\n<\/ul>\n<ul>\n<li>36mm*36mm*12mm<\/li>\n<li>16g<\/li>\n<li><a href=\"..\/Downloads\/other\/M9N-G4-3100_step.zip\">M9N-G4-3100_step.zip<\/a><\/li>\n<\/ul>\n<h3><strong>Firmwares<\/strong><\/h3>\n<ul>\n<li>ArduPilot AP_Periph: <strong>MatekG474-GPS\u00a0 or <\/strong><strong>MatekG474-Periph<\/strong><\/li>\n<li>Update via DroneCAN GUI Tool or Mission Planner\u2013DroneCAN Tab, load <strong>AP_Periph.bin<\/strong><\/li>\n<li>Update in G474 DFU mode via USB &amp; STM32CubeProgrammer, load <strong>AP_Periph_with_bl.hex<\/strong><\/li>\n<\/ul>\n<h3><strong>Includes<\/strong><\/h3>\n<ul>\n<li>1x M9N-G4-3100<\/li>\n<li>1x JST-GH-4P to JST-GH-4P 20cm silicon wire<\/li>\n<li>Mounting base (1x PCB plate,\u00a0 4x silicon grommets, 4x Nylon standoffs M3x7,\u00a0 4x Nylon screws M3*8)<\/li>\n<\/ul>\n<h3>Tips and Notes<\/h3>\n<ul>\n<li><strong>on M9N-G4-3100, The 3 magnetic coils have little solder paste to avoid the excess to &#8220;tilt&#8221; them, resulting in some reading inaccuracies of the compass. Any strong impacts will definitely separate them, especially the &#8220;tall coil&#8221; Sen-Z-f.\u00a0 Pls use this precision module with care.<\/strong><\/li>\n<li>Start with ubx GNSS FW3.01, timepulse is aligned with UTC time and that time is set valid only after leap second is downloaded. That could take up to 12.5 min. Probably PPS LED will not blink immediately after GPS has 3D fixed.<\/li>\n<li>The M9N-G4-3100 provides the ability to reset the receiver. Bridging \u201c<strong>M9N-RST<\/strong>\u201d pad to Ground for at least 100 ms will trigger a cold start. RESET will delete all information and trigger a cold start. It should only be used as a recovery option.<\/li>\n<li>No barometer integrated.<\/li>\n<\/ul>\n<\/div><\/div><\/section>\n<section class='av_tab_section av_tab_section av-m59lna64-35390bee531a57c2aed93bf73a00eb1d'  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='tab' role='tab' tabindex='0' data-fake-id='#tab-id-3' aria-controls='tab-id-3-content'  itemprop=\"headline\" >DroneCAN &amp; MSP Parameters<\/div><div id='tab-id-3-content' class='tab_content' aria-hidden=\"true\"><div class='tab_inner_content invers-color'  itemprop=\"text\" ><h4><strong>CAN (UAVCAN protocol) Connection<\/strong><\/h4>\n<ul>\n<li><strong>M9N-G4-3100 5V\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 &#8212; FC\u00a0 4V ~ 6V<\/strong><\/li>\n<li><strong>M9N-G4-3100 CAN-H\u00a0 &#8212; FC\u00a0 CAN High<\/strong><\/li>\n<li><strong>M9N-G4-3100 CAN-L\u00a0 \u00a0 &#8212; FC\u00a0 CAN Low<\/strong><\/li>\n<li><strong>M9N-G4-3100 G\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 &#8212; FC\u00a0 G\/GND<\/strong><\/li>\n<\/ul>\n<h4>FC UAVCAN Parameters(ArduPilot)<\/h4>\n<ul>\n<li>CAN_D1_PROTOCOL -&gt; 1<\/li>\n<li>CAN_P1_DRIVER -&gt; 1<\/li>\n<li>GPS_TYPE -&gt; 9 (DroneCAN)<\/li>\n<li>COMPASS_TYPEMASK -&gt; 0 (make sure DroneCAN Unchecked)<\/li>\n<\/ul>\n<p>&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;-<\/p>\n<h4><strong>UART (MSP protocol) Connection<\/strong><\/h4>\n<ul>\n<li><strong>M9N-G4-3100 5V\u00a0 \u00a0 &#8212; FC 4V ~ 6V<\/strong><\/li>\n<li><strong>M9N-G4-3100 TX3\u00a0 &#8212; FC\u00a0 spare UART_RX<\/strong><\/li>\n<li><strong>M9N-G4-3100 G\u00a0 \u00a0 \u00a0 &#8212; FC\u00a0 G\/GND<\/strong><\/li>\n<\/ul>\n<h4>ArduPilot (since 4.1.x) FC Parameters<\/h4>\n<ul>\n<li><em>Serialx_PROTOCOL \u00a0= 32\u00a0 (MSP) where x is the SERIAL port used for connection on autopilot.<\/em><\/li>\n<li><em>Serialx_BAUD = 115\u00a0 \u00a0 where x is the SERIAL port used for connection on autopilot.<\/em><\/li>\n<li><em>GPS TYPE = 19 (MSP)<\/em><\/li>\n<li><em>COMPASS_TYPEMASK \u00a00\u00a0 \u00a0(or make sure MSP bit is not checked)<\/em><\/li>\n<\/ul>\n<h4>INAV (since 2.6) FC Parameters<\/h4>\n<ul>\n<li>M9N-G4-3100 is compatible with any flight controller supported by INAV over a spare UART.<\/li>\n<li>In ports tab, Enable MSP on corresponding UART that M9N-G4-3100 connected,\u00a0 DO NOT enable &#8220;GPS&#8221; on that UART.\u00a0 \u00a0select <strong>Baudrate 115200<\/strong>.<\/li>\n<li><em>feature GPS<\/em><\/li>\n<li><em>set gps_provider = MSP<\/em><\/li>\n<li><em>set mag_hardware = MSP<\/em><\/li>\n<li><em>set align_mag = CW90,\u00a0 \u00a0if compass is mounted flat with arrow facing forward, and flight controller arrow is facing forward also.<\/em><\/li>\n<\/ul>\n<\/div><\/div><\/section>\n<section class='av_tab_section av_tab_section av-m885s4vb-5e1b9aa2e1fd23bd932fe11d6a9e3c05'  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='tab' role='tab' tabindex='0' data-fake-id='#tab-id-4' aria-controls='tab-id-4-content'  itemprop=\"headline\" >MCU Packages<\/div><div id='tab-id-4-content' class='tab_content' aria-hidden=\"true\"><div class='tab_inner_content invers-color'  itemprop=\"text\" ><ul>\n<li>Depending on the components supply, we are using STM32G474CEU6 (UFQFPN48) or STM32G474CET6 (LQFP48) as CAN Node MCU in different batches of M9N-G4-3100.\u00a0 MCU performance is the same in both packages.<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-12604\" src=\"https:\/\/www.mateksys.com\/wp-content\/uploads\/2025\/01\/M9N-G4-3100_U6_T6.jpg\" alt=\"\" width=\"1500\" height=\"1000\" \/><\/p>\n<\/div><\/div><\/section>\n<\/div>\n","protected":false},"excerpt":{"rendered":"","protected":false},"featured_media":12543,"comment_status":"closed","ping_status":"closed","template":"","tags":[179,171,137,132,176,178,173,134],"portfolio_entries":[175,221,43],"class_list":["post-12541","portfolio","type-portfolio","status-publish","has-post-thumbnail","hentry","tag-ap_periph","tag-can","tag-compass","tag-gps","tag-neo-m9n","tag-rm3100","tag-uancan","tag-ublox","portfolio_entries-ardupilot","portfolio_entries-dronecan","portfolio_entries-gnss"],"_links":{"self":[{"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/portfolio\/12541","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/portfolio"}],"about":[{"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/types\/portfolio"}],"replies":[{"embeddable":true,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=12541"}],"version-history":[{"count":5,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/portfolio\/12541\/revisions"}],"predecessor-version":[{"id":13186,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/portfolio\/12541\/revisions\/13186"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/media\/12543"}],"wp:attachment":[{"href":"https:\/\/www.mateksys.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=12541"}],"wp:term":[{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=12541"},{"taxonomy":"portfolio_entries","embeddable":true,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=%2Fwp%2Fv2%2Fportfolio_entries&post=12541"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}