AP_PERIPH GNSS M9N-F4-3100

CAN 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

7,835.00

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SKU: M9N-F4-3100 Categories: , Tags: , , ,

FC UAVCAN Parameters

  • 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.



MSP 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

FC MSP Parameters   (ArduPilot 4.1.x)

  • 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)

  • 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.

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