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
FC UAVCAN Parameters(ArduPilot)
- CAN_D1_PROTOCOL -> 1
- CAN_P1_DRIVER -> 1
- GPS_TYPE -> 9 (DroneCAN)
- COMPASS_TYPEMASK -> 0 (make sure DroneCAN Unchecked)
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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)
INAV (since 2.6) FC Parameters
- 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.
MCU Packages
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.

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