{"id":8491,"date":"2021-02-27T17:41:07","date_gmt":"2021-02-27T09:41:07","guid":{"rendered":"http:\/\/www.mateksys.com\/?post_type=portfolio&#038;p=8491"},"modified":"2026-01-19T12:51:16","modified_gmt":"2026-01-19T04:51:16","slug":"m9n-f4","status":"publish","type":"portfolio","link":"https:\/\/www.mateksys.com\/?portfolio=m9n-f4","title":{"rendered":"(EOL)AP_Periph GNSS M9N-F4 series"},"content":{"rendered":"\n<style type=\"text\/css\" data-created_by=\"avia_inline_auto\" id=\"style-css-av-20okd7-09b550191fcdf5356cedce6b7deb3738\">\n#top .av-special-heading.av-20okd7-09b550191fcdf5356cedce6b7deb3738{\npadding-bottom:10px;\n}\nbody .av-special-heading.av-20okd7-09b550191fcdf5356cedce6b7deb3738 .av-special-heading-tag .heading-char{\nfont-size:25px;\n}\n.av-special-heading.av-20okd7-09b550191fcdf5356cedce6b7deb3738 .av-subheading{\nfont-size:15px;\n}\n<\/style>\n<div  class='av-special-heading av-20okd7-09b550191fcdf5356cedce6b7deb3738 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 GNSS M9N-F4 series<\/h2><div class='av-subheading av-subheading_below'><p>AP_Periph F405 CAN node, NEO-M9N, QMC5881L\/RM3100, DPS310, ICM20602, I2C, UAVCAN protocol &amp; UART_MSP<\/p>\n<\/div><div class=\"special-heading-border\"><div class=\"special-heading-inner-border\"><\/div><\/div><\/div>\n<div  class='avia-slideshow av-5ro6cr-ffa569896820e32092afe544e6c803ae avia-slideshow-featured_large av_slideshow avia-slide-slider  avia-builder-el-1  el_after_av_heading  el_before_av_button  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-5ro6cr-ffa569896820e32092afe544e6c803ae__0  av-single-slide slide-1 slide-odd'><div data-rel='slideshow-1' class='avia-slide-wrap '   ><img fetchpriority=\"high\" class=\"wp-image-8502 avia-img-lazy-loading-not-8502\"  src='https:\/\/www.mateksys.com\/wp-content\/uploads\/2021\/02\/M9N-F4_1.jpg' width='1500' height='600' title='M9N-F4_1' alt=''  itemprop=\"thumbnailUrl\"   \/><\/div><\/li><\/ul><\/div>\n<div  class='avia-button-wrap av-klnw6hsx-6aa7d858c456af0c6059d4edb418ae2a-wrap avia-button-right  avia-builder-el-2  el_after_av_slideshow  el_before_av_icon_box '><a href='https:\/\/www.mateksys.com\/?p=5159#tab-id-12'  class='avia-button av-klnw6hsx-6aa7d858c456af0c6059d4edb418ae2a avia-icon_select-yes-left-icon avia-size-medium avia-position-right avia-color-theme-color'  target=\"_blank\"  rel=\"noopener noreferrer\" ><span class='avia_button_icon avia_button_icon_left' aria-hidden='true' data-av_icon='\ue82d' data-av_iconfont='entypo-fontello'><\/span><span class='avia_iconbox_title' >Firmwares<\/span><\/a><\/div>\n<article  class='iconbox iconbox_left av-l521wze4-58fc13273f6b3dfbe34c5d7c6d7abad5  avia-builder-el-3  el_after_av_button  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='\ue827' data-av_iconfont='entypo-fontello'><\/div><h3 class='iconbox_content_title '  itemprop=\"headline\" >Substitute<\/h3><\/header><div class='iconbox_content_container '  itemprop=\"text\" ><p>M10-L4-3100 is a substitute for M9N-F4-3100.\u00a0 <a href=\"https:\/\/www.mateksys.com\/?portfolio=M10-L4-3100\" target=\"_blank\" rel=\"noopener\">M10-L4-3100 page<\/a><\/p>\n<\/div><\/div><footer class=\"entry-footer\"><\/footer><\/article>\n<div  class='tabcontainer av-klnb3ddy-63a1472fb88948740022fdf7dbb2718b 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-5qt3iz-d090063fb5bb6485f0524013ba949337'  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\" >M9N-F4-3100<\/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-8499\" src=\"https:\/\/www.mateksys.com\/wp-content\/uploads\/2021\/02\/M9N-F4-3100_1.jpg\" alt=\"\" width=\"1500\" height=\"1500\" \/><\/p>\n<\/div><\/div><\/section>\n<section class='av_tab_section av_tab_section av-212xcb-bddd3d09b1de4e72f377b8cd6c92cb94'  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\" >M9N-F4-5883<\/div><div id='tab-id-2-content' class='tab_content' aria-hidden=\"true\"><div class='tab_inner_content invers-color'  itemprop=\"text\" ><p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-8498\" src=\"https:\/\/www.mateksys.com\/wp-content\/uploads\/2021\/02\/M9N-F4-5883_1.jpg\" alt=\"\" width=\"1500\" height=\"1500\" \/><\/p>\n<\/div><\/div><\/section>\n<section class='av_tab_section av_tab_section av-2aundn-c447b09a7c11a2f9555817b346667672'  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\" >Layout &amp; Spec.<\/div><div id='tab-id-3-content' class='tab_content' aria-hidden=\"true\"><div class='tab_inner_content invers-color'  itemprop=\"text\" ><p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-8540\" src=\"https:\/\/www.mateksys.com\/wp-content\/uploads\/2021\/02\/M9N-F4_layout.jpg\" alt=\"\" width=\"1500\" height=\"1500\" \/><\/p>\n<ul>\n<li>M9N-F4 series is based on ArudPilots\u2019 AP_Periph firmware,\u00a0 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.<\/li>\n<li>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.<\/li>\n<li>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.<\/li>\n<li>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.<\/li>\n<\/ul>\n<h3><strong>Specifications<\/strong><\/h3>\n<ul>\n<li>GNSS <a href=\"https:\/\/www.u-blox.com\/en\/product\/neo-m9n-module\" target=\"_blank\" rel=\"noopener\">u-blox NEO-M9N<\/a> (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>\u00a0 (M9N-F4-3100)<\/li>\n<li>Magnetic Compass QMC5883L\u00a0 (M9N-F4-5883)<\/li>\n<li>Barometer DPS310<\/li>\n<li>IMU ICM20602<\/li>\n<li>MCU STM32F405RGT6<\/li>\n<li>MicroSD socket<\/li>\n<li>Patch GNSS Antenna 25*25*4mm<\/li>\n<\/ul>\n<ul>\n<li>4x spare UARTs(1,2,3,5),\u00a0 UART4 for onboard NEO-M9N<\/li>\n<li>1x CAN, UAVCAN Protocol<\/li>\n<li>8x PWM +1x 2812LED outputs<\/li>\n<li>1x I2C, onboard DPS310 &amp; QMC5883L(M9N-F4-5883)<\/li>\n<li>MicroUSB and DFU button<\/li>\n<\/ul>\n<ul>\n<li>Input voltage range: 4.5~5.3V (5V pad\/pin)<\/li>\n<li>Power consumption: 120mA<\/li>\n<li><span data-slate-fragment=\"JTdCJTIyb2JqZWN0JTIyJTNBJTIyZG9jdW1lbnQlMjIlMkMlMjJkYXRhJTIyJTNBJTdCJTdEJTJDJTIybm9kZXMlMjIlM0ElNUIlN0IlMjJvYmplY3QlMjIlM0ElMjJibG9jayUyMiUyQyUyMnR5cGUlMjIlM0ElMjJwYXJhZ3JhcGglMjIlMkMlMjJpc1ZvaWQlMjIlM0FmYWxzZSUyQyUyMmRhdGElMjIlM0ElN0IlN0QlMkMlMjJub2RlcyUyMiUzQSU1QiU3QiUyMm9iamVjdCUyMiUzQSUyMnRleHQlMjIlMkMlMjJsZWF2ZXMlMjIlM0ElNUIlN0IlMjJvYmplY3QlMjIlM0ElMjJsZWFmJTIyJTJDJTIydGV4dCUyMiUzQSUyMk9wZXJhdGluZyUyMFRlbXBlcmF0dXJlcyUyMiUyQyUyMm1hcmtzJTIyJTNBJTVCJTVEJTdEJTVEJTdEJTVEJTdEJTVEJTdE\">Operating Temperatures: -20~80 \u00b0C<\/span><\/li>\n<\/ul>\n<ul>\n<li>M9N-F4-3100,\u00a0 36mm*36mm*12mm, 17.5g<\/li>\n<li>M9N-F4-5883,\u00a0 36mm*36mm*10mm, 17.3g<\/li>\n<\/ul>\n<h3><strong>Includes<\/strong><\/h3>\n<ul>\n<li>1x M9N-F4-xxxx<\/li>\n<li>2x JST-GH-4P to JST-GH-4P 20cm silicon wire<\/li>\n<li>1x JST-SH-3P to JST-SH-3P 8cm 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><strong>Firmwares<\/strong><\/h3>\n<ul>\n<li>ArduPilot AP_Periph: F405-MatekGPS<\/li>\n<li>ArduPilot Plane\/Copter\/Rover: MatekF405-CAN<\/li>\n<li>INav Target: MATEKF405CAN<\/li>\n<\/ul>\n<h3><strong>Tips &amp; warning<\/strong><\/h3>\n<ul>\n<li><strong>on M9N-F4-3100, 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><strong>M9N-F4 series don&#8217;t have 5V regulator built-in,\u00a0 they must be powered by external 5V source(4.5~5.3V) over any 5V pad\/pins.\u00a0 Vbat pad supports battery voltage sensing only.<\/strong><\/li>\n<\/ul>\n<\/div><\/div><\/section>\n<section class='av_tab_section av_tab_section av-1tvsmz-b370c07c620903bd53aece4e202c0d16'  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\" >AP_Periph mapping<\/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>\n<h4>AP_Periph:\u00a0 F405-MatekGPS<\/h4>\n<\/li>\n<\/ul>\n<table width=\"707\">\n<tbody>\n<tr>\n<td colspan=\"4\" width=\"515\">Mission Planner &gt; Initial Setup &gt; Optional Hardware &gt; UAVCAN &gt;\u00a0 SLCan Mode CAN1\u00a0 &gt; Parameters<\/td>\n<td width=\"192\">SLCAN Parameters<\/td>\n<\/tr>\n<tr>\n<td rowspan=\"9\">PWM<\/td>\n<td>S1<\/td>\n<td>PC6<\/td>\n<td>TIM8_CH1<\/td>\n<td>OUT1<\/td>\n<\/tr>\n<tr>\n<td>S2<\/td>\n<td>PC7<\/td>\n<td>TIM8_CH2<\/td>\n<td>OUT2<\/td>\n<\/tr>\n<tr>\n<td>S3<\/td>\n<td>PC8<\/td>\n<td>TIM8_CH3<\/td>\n<td>OUT3<\/td>\n<\/tr>\n<tr>\n<td>S4<\/td>\n<td>PC9<\/td>\n<td>TIM8_CH4<\/td>\n<td>OUT4<\/td>\n<\/tr>\n<tr>\n<td>S5<\/td>\n<td>PB0<\/td>\n<td>TIM3_CH3<\/td>\n<td>OUT5<\/td>\n<\/tr>\n<tr>\n<td>S6<\/td>\n<td>PB1<\/td>\n<td>TIM3_CH4<\/td>\n<td>OUT6<\/td>\n<\/tr>\n<tr>\n<td>S7<\/td>\n<td>PB6<\/td>\n<td>\/<\/td>\n<td>\/<\/td>\n<\/tr>\n<tr>\n<td>S8<\/td>\n<td>PB7<\/td>\n<td>\/<\/td>\n<td>\/<\/td>\n<\/tr>\n<tr>\n<td width=\"127\">LED<br \/>\nJST-SH-3P<br \/>\nconnector<\/td>\n<td>PA15<\/td>\n<td width=\"174\">TIM2_CH1<\/td>\n<td width=\"192\">2812 LED<br \/>\nOUT7_FUNCTION 120<br \/>\nNTF_LED_TYPES 455<\/td>\n<\/tr>\n<tr>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<\/tr>\n<tr>\n<td rowspan=\"3\">ADC<\/td>\n<td width=\"127\">Vbat pad<\/td>\n<td width=\"110\">PC0<\/td>\n<td width=\"174\">0~69V<br \/>\n1K:20K divider builtin<\/td>\n<td width=\"192\">BATT_MONITOR\u00a0 4<br \/>\nBATT_VOLT_PIN\u00a0 10<br \/>\nBATT_VOLT_MULT\u00a0 21<\/td>\n<\/tr>\n<tr>\n<td width=\"127\">Curr pad<\/td>\n<td width=\"110\">PC1<\/td>\n<td>0~3.3V<\/td>\n<td width=\"192\">BATT_CURR_PIN 11<\/td>\n<\/tr>\n<tr>\n<td width=\"127\">PC5 pad<\/td>\n<td width=\"110\">PC5<\/td>\n<td>0~3.3V<\/td>\n<td width=\"192\">BATT_MONITOR\u00a0 4<br \/>\nBATT2_VOLT_PIN\u00a0 15<\/td>\n<\/tr>\n<tr>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<\/tr>\n<tr>\n<td rowspan=\"5\">UART<\/td>\n<td>TX1 RX1<\/td>\n<td>UART1<\/td>\n<td>PORT0<\/td>\n<td>USER<\/td>\n<\/tr>\n<tr>\n<td>TX2 RX2<\/td>\n<td>UART2<\/td>\n<td>PORT1<\/td>\n<td>USER<\/td>\n<\/tr>\n<tr>\n<td>TX3 RX3<\/td>\n<td>UART3<\/td>\n<td>PORT2<\/td>\n<td>USER<\/td>\n<\/tr>\n<tr>\n<td>TX4 RX4<\/td>\n<td width=\"110\">UART4<\/td>\n<td>PORT3<\/td>\n<td width=\"192\">GPS_PORT 3<br \/>\non-board M9N<\/td>\n<\/tr>\n<tr>\n<td>TX5 RX5<\/td>\n<td>UART5<\/td>\n<td>PORT4<\/td>\n<td>MSP_PORT 4<\/td>\n<\/tr>\n<tr>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<\/tr>\n<tr>\n<td rowspan=\"3\">I2C2<\/td>\n<td rowspan=\"3\" width=\"127\">SCL\/SDA<br \/>\nGH connector<\/td>\n<td rowspan=\"3\">PB10\/PB11<\/td>\n<td width=\"174\">on-board DPS310<\/td>\n<td width=\"192\">Address 0x76<\/td>\n<\/tr>\n<tr>\n<td width=\"174\">on-board QMC5883L<\/td>\n<td>COMPASS_AUTODEC\u00a0 1<\/td>\n<\/tr>\n<tr>\n<td width=\"174\">MS4525<br \/>\nDLVR-L10D<\/td>\n<td width=\"192\">ARSP_TYPE\u00a0 1\u00a0 (Default)<br \/>\nARSP_TYPE\u00a0 9<\/td>\n<\/tr>\n<tr>\n<td>SPI2<\/td>\n<td><\/td>\n<td><\/td>\n<td width=\"174\">on-board RM3100<\/td>\n<td><\/td>\n<\/tr>\n<tr>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<\/tr>\n<tr>\n<td rowspan=\"5\">LED<\/td>\n<td>LED0<\/td>\n<td>Blue<\/td>\n<td>Bootloader<\/td>\n<td><\/td>\n<\/tr>\n<tr>\n<td>LED1<\/td>\n<td>Green<\/td>\n<td>\/<\/td>\n<td><\/td>\n<\/tr>\n<tr>\n<td>LED2<\/td>\n<td>Red<\/td>\n<td>3v3 power<\/td>\n<td><\/td>\n<\/tr>\n<tr>\n<td>PPS<\/td>\n<td>Green<\/td>\n<td>GPS 3D fix<\/td>\n<td><\/td>\n<\/tr>\n<tr>\n<td>JST-SH LED pin<\/td>\n<td colspan=\"2\">External 2812 LED<\/td>\n<td><\/td>\n<\/tr>\n<tr>\n<td rowspan=\"2\">Buzzer<\/td>\n<td>Buz-<\/td>\n<td colspan=\"2\">\u00a0Passive buzzer\u00a0 &#8211;<\/td>\n<td><\/td>\n<\/tr>\n<tr>\n<td>5V<\/td>\n<td colspan=\"2\">\u00a0Passive buzzer +<\/td>\n<td><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div><\/div><\/section>\n<section class='av_tab_section av_tab_section av-32wt4b-152004dfcd4c55ec4dec8688511dd07f'  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='tab' role='tab' tabindex='0' data-fake-id='#tab-id-5' aria-controls='tab-id-5-content'  itemprop=\"headline\" >AP_Periph UAVCAN &amp; MSP<\/div><div id='tab-id-5-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-F4\u00a0 5V\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 &#8212; FC\u00a0 4.5V ~ 5.3V<\/strong><\/li>\n<li><strong>M9N-F4 CAN-H\u00a0 \u00a0&#8212; FC\u00a0 CAN High<\/strong><\/li>\n<li><strong>M9N-F4 CAN-L\u00a0 \u00a0 &#8212; FC\u00a0 CAN Low<\/strong><\/li>\n<li><strong>M9N-F4 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 (UAVCAN)<\/li>\n<li>COMPASS_TYPEMASK -&gt; 0 (make sure UAVCAN Unchecked)<\/li>\n<li>NTF_LED_TYPES -&gt;\u00a0 (make sure UAVCAN checked)<\/li>\n<\/ul>\n<p>If you connect I2C airspeed sensor to I2C port of M9N-CAN<\/p>\n<ul>\n<li>ARSPD_TYPE -&gt; 8 (UAVCAN)<\/li>\n<li>ARSPD_USE -&gt; 1<\/li>\n<\/ul>\n<p><b>And you must set CAN Node parameters for airspeed sensor connected to I2C port of M9N-CAN<\/b><\/p>\n<p><b>Mission Planner &gt; Initial Setup &gt; Optional Hardware &gt; UAVCAN &gt;\u00a0 SLCan Mode CAN1\u00a0 &gt; Parameters<\/b><\/p>\n<ul>\n<li>MS4525\u00a0 \u00a0ARSP_TYPE -&gt; 1\u00a0 (default in hwdef)<\/li>\n<li>MS5525\u00a0 \u00a0ARSP_TYPE -&gt; 3\u00a0 \u00a0 supports MS5525 with address 0x77 only<\/li>\n<li>SDP3X\u00a0 \u00a0 \u00a0ARSP_TYPE -&gt; 6<\/li>\n<li>DLVR-L10D\u00a0\u00a0 \u00a0ARSP_TYPE -&gt; 9<\/li>\n<li>Write and reboot<\/li>\n<\/ul>\n<p>*** I2C peripherals don&#8217;t support hot plug. \u00a0Airspeed sensor and Flight controller must be turned on together.<\/p>\n<hr \/>\n<hr \/>\n<h4><strong>UART (MSP protocol) Connection<\/strong><\/h4>\n<ul>\n<li><strong>M9N-F4\u00a0 5V\u00a0 \u00a0 &#8212; FC 4.0V ~ 5.3V<\/strong><\/li>\n<li><strong>M9N-F4 TX5\u00a0 &#8212; FC\u00a0 spare UART_RX<\/strong><\/li>\n<li>M9N-F4 RX5\u00a0 &#8212; FC\u00a0 spare UART_TX (not essential)<\/li>\n<li><strong>M9N-F4 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>BARO_PROBE_EXT \u00a0= 4096\u00a0 (MSP Baro)<\/em><\/li>\n<li><em>BARO_PRIMARY = 1\u00a0 (If you want to use MSP baro as primary baro, otherwise leave as default)<\/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-F4 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-F4 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 baro_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-2sd7zv-c4757d2ff804c209bd1fba69d94ac54e'  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='tab' role='tab' tabindex='0' data-fake-id='#tab-id-6' aria-controls='tab-id-6-content'  itemprop=\"headline\" >FC mapping<\/div><div id='tab-id-6-content' class='tab_content' aria-hidden=\"true\"><div class='tab_inner_content invers-color'  itemprop=\"text\" ><table width=\"1070\">\n<tbody>\n<tr>\n<td colspan=\"5\" width=\"689\"><strong>ArduPilot Plane\/Copter\/Rover:\u00a0 MatekF405-CAN<\/strong><br \/>\n<strong>INav Target MATEKF405CAN<\/strong><\/td>\n<td width=\"154\"><strong>ArduPilot<\/strong><\/td>\n<td width=\"93\"><strong>INAV Plane<\/strong><\/td>\n<td width=\"134\"><strong>INAV MultiRotor<\/strong><\/td>\n<\/tr>\n<tr>\n<td rowspan=\"10\">PWM<\/td>\n<td>S1<\/td>\n<td>PC6<\/td>\n<td rowspan=\"4\">TIM8<\/td>\n<td>TIM8_CH1<\/td>\n<td>PWM1 GPIO50<\/td>\n<td rowspan=\"6\">Servo<\/td>\n<td rowspan=\"8\">Motor<\/td>\n<\/tr>\n<tr>\n<td>S2<\/td>\n<td>PC7<\/td>\n<td>TIM8_CH2<\/td>\n<td>PWM2\u00a0 GPIO51<\/td>\n<\/tr>\n<tr>\n<td>S3<\/td>\n<td>PC8<\/td>\n<td>TIM8_CH3<\/td>\n<td>PWM3 GPIO52<\/td>\n<\/tr>\n<tr>\n<td>S4<\/td>\n<td>PC9<\/td>\n<td>TIM8_CH4<\/td>\n<td>PWM4 GPIO53<\/td>\n<\/tr>\n<tr>\n<td>S5<\/td>\n<td>PB0<\/td>\n<td rowspan=\"2\">TIM3<\/td>\n<td>TIM3_CH3<\/td>\n<td>PWM5 GPIO54<\/td>\n<\/tr>\n<tr>\n<td>S6<\/td>\n<td>PB1<\/td>\n<td>TIM3_CH4<\/td>\n<td>PWM6 GPIO55<\/td>\n<\/tr>\n<tr>\n<td>S7<\/td>\n<td>PB6<\/td>\n<td rowspan=\"2\">TIM4<\/td>\n<td>TIM4_CH1<\/td>\n<td>PWM7 GPIO56<\/td>\n<td rowspan=\"2\">Motor<\/td>\n<\/tr>\n<tr>\n<td>S8<\/td>\n<td>PB7<\/td>\n<td>TIM4_CH2<\/td>\n<td>PWM8 GPIO57<\/td>\n<\/tr>\n<tr>\n<td width=\"127\">LED<br \/>\nJST-SH-3P<\/td>\n<td>PA15<\/td>\n<td>TIM2<\/td>\n<td width=\"174\">TIM2_CH1<\/td>\n<td width=\"154\">PWM9 GPIO58<br \/>\n2812LED<\/td>\n<td>2812LED<\/td>\n<td>2812LED<\/td>\n<\/tr>\n<tr>\n<td>TX2<\/td>\n<td>PA2<\/td>\n<td>TIM5<\/td>\n<td width=\"174\">TIM5_CH3<\/td>\n<td><\/td>\n<td colspan=\"2\">softserial1_Tx<\/td>\n<\/tr>\n<tr>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<\/tr>\n<tr>\n<td>ADC<\/td>\n<td width=\"127\">Vbat pad<\/td>\n<td width=\"110\">PC0<\/td>\n<td width=\"174\">0~69V<br \/>\n1K:20K divider builtin<\/td>\n<td width=\"174\">BATT_VOLT_PIN<br \/>\nBATT_VOLT_MULT<\/td>\n<td width=\"154\">10<br \/>\n21.0<\/td>\n<td colspan=\"2\" width=\"227\">\u00a0ADC_CHANNEL_1<\/td>\n<\/tr>\n<tr>\n<td><\/td>\n<td width=\"127\">Curr pad<\/td>\n<td width=\"110\">PC1<\/td>\n<td>0~3.3V<\/td>\n<td width=\"174\">BATT_CURR_PIN<\/td>\n<td width=\"154\">11<\/td>\n<td colspan=\"2\">ADC_CHANNEL_2<\/td>\n<\/tr>\n<tr>\n<td><\/td>\n<td width=\"127\">Rssi pad<\/td>\n<td width=\"110\">PC2<\/td>\n<td>0~3.3V<\/td>\n<td width=\"174\">RSSI_ANA_PIN<\/td>\n<td width=\"154\">12<\/td>\n<td colspan=\"2\">ADC_CHANNEL_3<\/td>\n<\/tr>\n<tr>\n<td><\/td>\n<td width=\"127\">Airs pad<\/td>\n<td width=\"110\">PC3<\/td>\n<td>0~3.3V<\/td>\n<td width=\"174\">ARSPD_PIN<\/td>\n<td width=\"154\">4<\/td>\n<td colspan=\"2\">ADC_CHANNEL_4<\/td>\n<\/tr>\n<tr>\n<td><\/td>\n<td width=\"127\">PC5 pad<\/td>\n<td width=\"110\">PC5<\/td>\n<td>0~3.3V<\/td>\n<td width=\"174\">BATT2_VOLT_PIN<\/td>\n<td width=\"154\">15<\/td>\n<td colspan=\"2\"><\/td>\n<\/tr>\n<tr>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<\/tr>\n<tr>\n<td rowspan=\"9\">UART<\/td>\n<td>USB<\/td>\n<td>PA11\/PA12<\/td>\n<td>USB<\/td>\n<td>SERIAL0<\/td>\n<td>console<\/td>\n<td colspan=\"2\"><\/td>\n<\/tr>\n<tr>\n<td>TX1 RX1<\/td>\n<td>PA9\/PA10<\/td>\n<td>UART1<\/td>\n<td>SERIAL1<\/td>\n<td>telem1<\/td>\n<td colspan=\"2\">USER<\/td>\n<\/tr>\n<tr>\n<td>TX3 RX3<\/td>\n<td>PC10\/PC11<\/td>\n<td>UART3<\/td>\n<td>SERIAL2<\/td>\n<td>USER<\/td>\n<td colspan=\"2\">USER<\/td>\n<\/tr>\n<tr>\n<td>TX4 RX4<\/td>\n<td>PA0\/PA1<\/td>\n<td width=\"174\">UART4<\/td>\n<td>SERIAL3<\/td>\n<td width=\"154\">GPS1<br \/>\non-board M9N<\/td>\n<td colspan=\"2\" width=\"227\">on-board M9N<\/td>\n<\/tr>\n<tr>\n<td>TX5 RX5<\/td>\n<td>PC12\/PD2<\/td>\n<td>UART5<\/td>\n<td>SERIAL4<\/td>\n<td>USER<\/td>\n<td colspan=\"2\">USER<\/td>\n<\/tr>\n<tr>\n<td rowspan=\"4\">TX2 RX2<\/td>\n<td rowspan=\"4\">PA2\/PA3<\/td>\n<td>TX2 RX2<\/td>\n<td rowspan=\"4\">SERIAL5<\/td>\n<td>CRSF<\/td>\n<td colspan=\"2\">CRSF<\/td>\n<\/tr>\n<tr>\n<td>TX2<\/td>\n<td>SRXL2<\/td>\n<td colspan=\"2\" width=\"227\">SRXL2<br \/>\nsoftserial1_Tx<\/td>\n<\/tr>\n<tr>\n<td>RX2<\/td>\n<td>IBUS\/DSM\/PPM<\/td>\n<td colspan=\"2\">IBUS\/DSM\/PPM<\/td>\n<\/tr>\n<tr>\n<td>Sbus<\/td>\n<td>SBUS<\/td>\n<td colspan=\"2\">SBUS<\/td>\n<\/tr>\n<tr>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<\/tr>\n<tr>\n<td rowspan=\"3\">I2C2<\/td>\n<td rowspan=\"3\" width=\"127\">SCL\/SDA<br \/>\nGH connector<\/td>\n<td rowspan=\"3\">PB10\/PB11<\/td>\n<td width=\"174\">on-board DPS310<\/td>\n<td width=\"174\">Address<\/td>\n<td>0x76<\/td>\n<td colspan=\"2\" width=\"227\"><\/td>\n<\/tr>\n<tr>\n<td width=\"174\">on-board QMC5883L<\/td>\n<td>COMPASS_AUTODEC<\/td>\n<td>1<\/td>\n<td colspan=\"2\" width=\"227\">M9N-F4-5883<br \/>\nset align_mag = CW270FLIP<\/td>\n<\/tr>\n<tr>\n<td width=\"174\">MS4525<br \/>\nDLVR-L10D<\/td>\n<td width=\"174\">ARSPD_TYPE<\/td>\n<td width=\"154\">1<br \/>\n9<\/td>\n<td colspan=\"2\" width=\"227\"><\/td>\n<\/tr>\n<tr>\n<td>SPI2<\/td>\n<td width=\"127\"><\/td>\n<td><\/td>\n<td width=\"174\">on-board RM3100<\/td>\n<td>COMPASS_AUTODEC<\/td>\n<td>1<\/td>\n<td colspan=\"2\" width=\"227\">M9N-F4-3100<br \/>\nset align_mag = CW180<\/td>\n<\/tr>\n<tr>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<\/tr>\n<tr>\n<td rowspan=\"4\">CAN<\/td>\n<td rowspan=\"4\">CAN1<\/td>\n<td rowspan=\"4\">PB8\/PB9<\/td>\n<td width=\"174\">F103\/F303\/F405<br \/>\nCAN Node<\/td>\n<td width=\"174\">CAN_D1_PROTOCOL<br \/>\nCAN_P1_DRIVER<\/td>\n<td width=\"154\">1<br \/>\n1<\/td>\n<td colspan=\"2\" width=\"227\">\u00a0\/<\/td>\n<\/tr>\n<tr>\n<td width=\"174\">CAN GPS<\/td>\n<td width=\"174\">GPS_TYPE<\/td>\n<td width=\"154\">9<\/td>\n<td colspan=\"2\" width=\"227\">\u00a0\/<\/td>\n<\/tr>\n<tr>\n<td width=\"174\">CAN Compass<\/td>\n<td width=\"174\">COMPASS_TYPEMASK<\/td>\n<td width=\"154\">0<\/td>\n<td colspan=\"2\" width=\"227\">\u00a0\/<\/td>\n<\/tr>\n<tr>\n<td>CAN Airspeed sensor<\/td>\n<td width=\"174\">ARSPD_TYPE<\/td>\n<td width=\"154\">8<\/td>\n<td colspan=\"2\" width=\"227\">\u00a0\/<\/td>\n<\/tr>\n<tr>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<td><\/td>\n<\/tr>\n<tr>\n<td rowspan=\"5\">LED<\/td>\n<td>LED0<\/td>\n<td>Blue<\/td>\n<td colspan=\"5\">FC status<\/td>\n<\/tr>\n<tr>\n<td>LED1<\/td>\n<td>Green<\/td>\n<td colspan=\"5\">FC status<\/td>\n<\/tr>\n<tr>\n<td>LED2<\/td>\n<td>Red<\/td>\n<td colspan=\"5\">3v3 power<\/td>\n<\/tr>\n<tr>\n<td>PPS<\/td>\n<td>Green<\/td>\n<td colspan=\"5\">GPS 3D fix<\/td>\n<\/tr>\n<tr>\n<td>JST-SH LED pin<\/td>\n<td><\/td>\n<td colspan=\"5\">External 2812 LED<\/td>\n<\/tr>\n<tr>\n<td rowspan=\"2\">Buzzer<\/td>\n<td>Buz-<\/td>\n<td><\/td>\n<td colspan=\"5\">\u00a0Passive buzzer\u00a0 &#8211;<\/td>\n<\/tr>\n<tr>\n<td>5V<\/td>\n<td><\/td>\n<td colspan=\"5\">\u00a0Passive buzzer +<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<div id=\"gtx-trans\" style=\"position: absolute; left: 604px; top: 1294.32px;\">\n<div class=\"gtx-trans-icon\"><\/div>\n<\/div>\n<\/div><\/div><\/section>\n<section class='av_tab_section av_tab_section av-2lto23-daecd4ab46076ff471f29a2d80c46099'  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='tab' role='tab' tabindex='0' data-fake-id='#tab-id-7' aria-controls='tab-id-7-content'  itemprop=\"headline\" >OSD solution<\/div><div id='tab-id-7-content' class='tab_content' aria-hidden=\"true\"><div class='tab_inner_content invers-color'  itemprop=\"text\" ><ul>\n<li>M9N-F4 series don&#8217;t have MAX7456\/AT6456 OSD chip integrated.\u00a0 If you use M9N-F4-xxxx as a flight controller. you might use DJI FPV OSD or FrskyOSD module.<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-8573\" src=\"https:\/\/www.mateksys.com\/wp-content\/uploads\/2021\/02\/M9N-F4_OSD.jpg\" alt=\"\" width=\"1500\" height=\"1325\" \/><\/p>\n<div id=\"gtx-trans\" style=\"position: absolute; left: 591px; top: -9.78819px;\">\n<div class=\"gtx-trans-icon\"><\/div>\n<\/div>\n<\/div><\/div><\/section>\n<section class='av_tab_section av_tab_section av-2hr9zv-87df0c3c9f99316736919efb6158d71a'  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='tab' role='tab' tabindex='0' data-fake-id='#tab-id-8' aria-controls='tab-id-8-content'  itemprop=\"headline\" >Others<\/div><div id='tab-id-8-content' class='tab_content' aria-hidden=\"true\"><div class='tab_inner_content invers-color'  itemprop=\"text\" ><ul>\n<li>STEP &amp; 3D PDF\u00a0 \u00a0<a href=\"https:\/\/www.mateksys.com\/Downloads\/other\/M9N-F4_STEP_PDF.zip\">M9N-F4_STEP_PDF.zip<\/a><\/li>\n<li>Firmware update,\u00a0 \u00a0Connect the USB to the PC While holding the DFU\/boot button in.\u00a0 then flash Ardupilot(xxxx_with_bl.hex) or INAV firmware via STM32CubeProgrammer or INAV configurator.<\/li>\n<\/ul>\n<\/div><\/div><\/section>\n<\/div>\n","protected":false},"excerpt":{"rendered":"","protected":false},"featured_media":8503,"comment_status":"closed","ping_status":"closed","template":"","tags":[179,171,137,164,132,176,174,178,173,134],"portfolio_entries":[201],"class_list":["post-8491","portfolio","type-portfolio","status-publish","has-post-thumbnail","hentry","tag-ap_periph","tag-can","tag-compass","tag-dps310","tag-gps","tag-neo-m9n","tag-qmc5883l","tag-rm3100","tag-uancan","tag-ublox","portfolio_entries-archiving"],"_links":{"self":[{"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/portfolio\/8491","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=8491"}],"version-history":[{"count":2,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/portfolio\/8491\/revisions"}],"predecessor-version":[{"id":13147,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/portfolio\/8491\/revisions\/13147"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/media\/8503"}],"wp:attachment":[{"href":"https:\/\/www.mateksys.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=8491"}],"wp:term":[{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=8491"},{"taxonomy":"portfolio_entries","embeddable":true,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=%2Fwp%2Fv2%2Fportfolio_entries&post=8491"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}