(EOL)GNSS M8Q-CAN, UAVCAN & MSP

GNSS M8Q-CAN, UAVCAN & MSP

AP F303 CAN node, SAM-M8Q, QMC5881L, DPS310, I2C, Uart1 & Uart3 breakout. UAVCAN protocol & UART_MSP

Gallery

Specifications

ArduPilot AP_Periph F303 CAN node
GPS SAM-M8Q (GPS, GLONASS, Galileo)
Magnetic Compass QMC5883L
Barometer DPS310

UART1, Firmware update
UART2, onboard GPS
UART3, MSP Protocol
CAN, UAVCAN Protocol
I2C, onboard QMC5883L & DPS310
I2C JST-GH connector, external AirSpeed sensor

CAN bootloader LED, Blue
- Fast blinking, Booting
- Slow blinking, working
GPS PPS LED, Green
- blinking(1Hz) when GPS has 3D fixed
Boot button

Input voltage range: 4.5~5.5V (5V pad/pin)
Power consumption: 100mA
Operating Temperatures: -20~80 °C

29mm*29mm*9.7mm
11.3g

Includes

1x M8Q-CAN
2x JST-GH-4P to JST-GH-4P 20cm silicon wire

Tips

u-blox M8Q series has no external flash memory
Compass Alignment(Arrow forward and flat mounting):
Ardupilot/Mission Planner: Rotation None
Make sure to have compass/magnetometer 10cm away from power lines/ESC/motors/iron based material
The scratches on ceramic antenna are the result of tuning the antenna by ublox.
HD cameras(Gopro, Split, Tarsier, etc) could interfere GPS signal, try turning off HD camera before GPS 3D fix
Blue LED status can’t show communicating between CAN node and Flight Controllers since MSP was supported.

Pinout & Pads

GH-4P Pin	Signal	Wires color	Pads	Signal
5V	4.5~5.5V	Red	3V3	onboard LDO output
C-H	CAN high	Yellow	5V	4.5~5.5V
C-L	CAN low	Blue	G	GND
G	GND	Black	Tx1	UART1-TX
			Rx1	UART1-RX
5V	4.5~5.5V	Red	Rs	F303 NRST
SCL	I2C-SCL	Yellow	C	F303 SWCLK
SDA	I2C-SDA	Blue	G	GND
G	GND	Black	D	F303 SWDIO
			3	onboard LDO output 3.3V
5V	4.5~5.5V	Red
Tx3	UART3-TX	Yellow
Rx3	UART3-RX	Blue
G	GND	Black	Boot button	Bridge Boot to 3.3V

Wiring

UAVCAN Parameters

CAN_D1_PROTOCOL -> 1
CAN_P1_DRIVER -> 1
GPS_TYPE -> 9 (UAVCAN)
COMPASS_TYPEMASK -> 0 (make sure UAVCAN Unchecked)

If you connect I2C airspeed sensor to I2C port of M8Q-CAN

ARSPD_TYPE -> 8 (UAVCAN)
ARSPD_USE -> 1

And you must set CAN Node parameters for airspeed sensor connected to I2C port of M8Q-CAN

Mission Planner > Initial Setup > Optional Hardware > UAVCAN > SLCan Mode CAN1 > Parameters

MS4525 ARSP_TYPE -> 1
MS5525 ARSP_TYPE -> 3 supports MS5525 with address 0x77 only
SDP3X ARSP_TYPE -> 6
DLVR-L10D ARSP_TYPE -> 9 (default in hwdef)
Write and reboot

MSP Parameters

Connection

M8Q-CAN 5V — FC 4V5 or 5V
M8Q-CAN TX3 — FC spare UART_RX
M8Q-CAN RX3 — FC spare UART_TX (not essential)
M8Q-CAN G — FC G/GND

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)

M8Q-CAN is compatible with any flight controller supported by INAV over a spare UART.
In ports tab, Enable MSP on corresponding UART that M8Q-CAN 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.

**** If MSP doesn’t work, Pls update M8Q-CAN to latest firmware first. When M8Q-CAN launched. MSP sensor has not been implemented. the first batch of M8Q-CAN with that firmware preloaded doesn’t support MSP sensors.

Resellers

Including but not limited to

Update Firmwares

ArduPilot hwdef f303-MatekGPS

https://ardupilot.org/copter/docs/common-matek-m8q.html
Firmware https://firmware.ardupilot.org/AP_Periph/stable/f303-MatekGPS/

1. Update firmware in STM32CubeProgrammer with “AP_Periph_with_bl.hex”

Tool https://www.st.com/en/development-tools/stm32cubeprog.html

You may download it from our server en.stm32cubeprog_v2-3-0.zip

2. If you have a flight controller with CAN port, you can connect M8Q-CAN to Flight controller via CAN, then update firmware in Mission Planner with “AP_Periph.bin”