MATEKSYS CAN Magnetometer RM3100 CAN-L4-3100, ArduPilot AP_Periph DroneCAN, STM32L431

Overview

The MATEKSYS AP_Periph CAN Magnetometer - RM3100 (CAN-L4-3100) is a CAN magnetometer module based on the PNI RM3100 geomagnetic sensor and ArduPilot AP_Periph firmware. It supports DroneCAN protocol and is designed to provide stable magnetic measurements over temperature with low power consumption and noise immunity.

Key Features

• Professional grade CAN magnetometer based on RM3100 and ArduPilot AP_Periph firmware
• DroneCAN protocol support on CAN interface
• UART2 MSP output (MatekL431-Periph firmware)
• UART3 interface for external GNSS module
• ST debug interface: SWCLK and SWDIO
• RM3100 sensor characteristics: high resolution, low power consumption, large signal noise immunity, large dynamic range, high sampling rates, stable over temperature, inherently free from offset drift
• On-board LED indicators (booting/working/3.3V)

For order support and technical assistance, contact support@rcdrone.top or visit https://rcdrone.top/.

Specifications

Firmware

• ArduPilot AP_Periph: MatekL431-GPS or MatekL431-Periph
• Update via DroneCAN GUI Tool or Mission Planner: AP_Periph.bin
• Update via STLink: AP_Periph_with_bl.hex

Parameters

• CAN_P1_DRIVER = 1 if attached to CAN bus1 port, or CAN_P2_DRIVER = 1 if attached to CAN bus2 port
• COMPASS_AUTODEC = 1

What’s Included

• 1x CAN-L4-3100 board
• 1x JST-GH-4P to JST-GH-4P 20cm silicon wire

Applications

• DroneCAN compass / magnetometer module for ArduPilot AP_Periph systems
• MSP protocol magnetometer output via UART2

Setup Notes

• Pre-installed firmware: MatekL431-GPS
• Mount the magnetometer away from power lines/motors and iron-based material: >=10cm
• Mounting ears can be cut off if not needed
• If CAN wires are too long, bridge the 120R jumper

UART (MSP protocol) Connection

• CAN-L4-3100 5V — FC 4.0V ~ 5.3V
• CAN-L4-3100 G — FC G/GND
• CAN-L4-3100 TX2 — FC spare UART_RX

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

INAV (since 2.6) FC Parameters

• Ports tab: Enable MSP on the corresponding UART that CAN-L4-3100 is connected to; do not enable other functions on that UART; select Baudrate 115200
• set mag_hardware = MSP
• set align_mag = CW90, if compass is mounted flat with arrow facing forward and the flight controller arrow is also facing forward

Manuals

• 3D file: CAN-L4-3100_step.zip

Details