MATEK GPS M9N with RM3100 Compass

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.