Matek AP_PERIPH DroneCAN GNSS M9N-G4-3100 GPS + RM3100 Compass Peripheral, STM32G474CE

Overview

The Matek AP_PERIPH DroneCAN GNSS M9N-G4-3100 (GPS+Compass) is a GNSS+compass peripheral based on ArduPilot AP_Periph firmware, with CAN/DroneCAN and UART/MSP interfaces. It uses an M9N-series concurrent multi-constellation GNSS receiver and integrates an industrial-grade PNI RM3100 magnetic compass.

Key Features

• GNSS NEO-M9N / M9N series concurrent receiver (GPS, GLONASS, Galileo, BeiDou)
• Integrated magnetic compass: RM3100 (PNI)
• CAN / DroneCAN protocol; compatible with CAN FD (5 Mbps) and CAN 2.0 (1 Mbps)
• UART/MSP support (UART3 / TX3 shown on board)
• USB port for firmware update in G474 DFU mode
• Status LEDs: CAN bootloader (Blue), GNSS PPS (Green), 3.3V indicator (Red)

Specifications

For customer service and technical support, contact support@rcdrone.top or visit https://rcdrone.top/.

LED Indicators

• CAN bootloader LED (Blue): fast blinking = booting; slow blinking = working
• GNSS PPS LED (Green): OFF after powering on; blinking (1 Hz) when GNSS has 3D fixed
• 3.3V LED (Red)

Firmware & Updates

• ArduPilot AP_Periph firmware: 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
• STEP file: M9N-G4-3100_step.zip

What’s Included

• 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

Applications

• GNSS positioning plus compass heading for AP_Periph systems via CAN/DroneCAN or UART/MSP

Notes

• The 3 magnetic coils use limited solder paste to reduce tilt; strong impacts may separate coils (especially the tall coil Sen-Z-f), which can cause compass reading inaccuracies.
• With ubx GNSS FW3.01, timepulse is aligned with UTC and becomes valid only after the leap second is downloaded (up to 12.5 min). The PPS LED may not blink immediately after GNSS has 3D fixed.
• Receiver reset: bridge the M9N-RST pad to Ground for at least 100 ms to trigger a cold start. Reset deletes all information and should be used as a recovery option.
• No barometer integrated.

Details

The MatekSYS M9N-G4-3100 GNSS module pairs a NEO-M9N receiver with an RM3100 compass and supports CAN/DroneCAN for clean autopilot integration.

Matek’s M9N-G4-3100 GNSS module combines a patch antenna, USB-C, and a 5V/CAN-H/CAN-L/G connector on a 30.5 x 36 mm board with 3 mm mounting holes.