- 상품설명 준비중입니다.

구성

하단 사진 참조

CAN-L4-3100 is a professional grade CAN Magnetometer based on RM3100 & ArudPilot AP_Periph firmware.

RM3100 sensor technology provides high resolution, low power consumption, large signal noise immunity,

a large dynamic range, and high sampling rates. Measurements are stable over temperature and inherently free from offset drift.

Specifications

PNI RM3100 Geomagnetic Sensor

CAN node MCU: STM32L431xC, 256KB Flash

Interface

CAN, DroneCAN Protocol

UART2, MSP output (MatekL431-Periph fw)

UART3, for external GNSS module

ST debug, SWCLK & SWDIO

LED

Blue, Fast blinking,  Booting

Blue, Slow blinking, working

Red, 3.3V indicator

Power supply for CAN-L4-3100 board : 4.5~5.5V  @5V pad/pin

Power consumption: 22mA

Operating Temperatures: -40~85 °C

Physical

Board Size: 36mm*25mm*10mm.  6g

3D File CAN-L4-3100_step.zip

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

Packing

1x CAN-L4-3100 board

1x JST-GH-4P to JST-GH-4P 20cm silicon wire

Tips

• CAN-L4-3100 is pre-installed with “MatekL431-GPS” firmware.

• Put magnetometer far from power lines/ESC/motors/iron based material. >=10cm

• 2 ears for mounting can be cut off if you don’t need it.

• If the 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

• In ports tab, Enable MSP on corresponding UART that CAN-L4-3100 connected,  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 flight controller arrow is facing forward also.