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• M9N-G4-3100 is based on ArudPilots¡¯ AP_Periph firmware,  It is a GNSS+COMPASS peripheral with CAN/DroneCAN and UART/MSP interfaces.

• 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.

• 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.

• G474 CAN node is compatible with CAN FD(5 Mbps) & CAN 2.0 (1 Mbps)

GNSS M9N series (GPS, GLONASS, Galileo and BeiDou)

Magnetic Compass RM3100

Patch GNSS Antenna 25*25*4mm

MCU STMG474CE, 170MHz

UART2, onboard M9N GNSS module

UART3(TX3), MSP Protocol

CAN, DroneCAN Protocol

USB, for firmware update in G474 DFU mode

CAN bootloader LED, Blue

Fast blinking,  Booting

Slow blinking, working

GNSS PPS LED, Green

blinking(1Hz) when GNSS has 3D fixed

3.3V LED, Red

Input voltage range: 4.5~5.5V (5V pad/pin)

Power consumption: 100mA

Operating Temperatures: -20~80 ¡ÆC

36mm*36mm*12mm

16g

Firmwares

ArduPilot AP_Periph: MatekG474-GPS  or MatekG474-Periph

Update via DroneCAN GUI Tool or Mission Planner-DroneCAN Tab, load AP_Periph.bin

Update in G474 DFU mode via USB & STM32CubeProgrammer, load AP_Periph_with_bl.hex

Includes

1x M9N-G4-3100

1x JST-GH-4P to JST-GH-4P 20cm silicon wire

Mounting base (1x PCB plate,  4x silicon grommets, 4x Nylon standoffs M3x7,  4x Nylon screws M3*8)

Tips and Notes

• on M9N-G4-3100, 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.
  

• 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.
  

• The M9N-G4-3100 provides the ability to reset the receiver. Bridging ¡°M9N-RST¡± 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.
  

• No barometer integrated.

CAN (UAVCAN protocol) Connection

• M9N-G4-3100 5V          -- FC  4V ~ 6V

• M9N-G4-3100 CAN-H  -- FC  CAN High

• M9N-G4-3100 CAN-L    -- FC  CAN Low

• M9N-G4-3100 G            -- FC  G/GND

• CAN_D1_PROTOCOL -> 1

• CAN_P1_DRIVER -> 1

• GPS_TYPE -> 9 (DroneCAN)

• COMPASS_TYPEMASK -> 0 (make sure DroneCAN Unchecked)

------------------------------------------------------------

UART (MSP protocol) Connection

• M9N-G4-3100 5V    -- FC 4V ~ 6V

• M9N-G4-3100 TX3  -- FC  spare UART_RX

• M9N-G4-3100 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)

• COMPASS_TYPEMASK  0   (or make sure MSP bit is not checked)

• M9N-G4-3100 is compatible with any flight controller supported by INAV over a spare UART.

• In ports tab, Enable MSP on corresponding UART that M9N-G4-3100 connected,  DO NOT enable ¡°GPS¡± on that UART.   select Baudrate 115200.

• feature GPS

• set gps_provider = MSP

• 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.

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.