MATEK CAN L4 3100 Magnetometer — Professional Module for Precise Drone Navigation

The CAN-L4-3100 magnetometer from Matek is a professional sensor module based on PNI RM3100 with ArduPilot AP_Periph firmware, designed for stable and accurate magnetic field measurement in drone onboard systems. The device combines the high resolution of the RM3100 sensor, low power consumption, and noise immunity, ensuring no measurement shifts with temperature changes and minimal electromagnetic interference.

Sensor Advantages

The RM3100 provides a wide dynamic range and high sampling rate, making the CAN-L4-3100 ideal for use in drone navigation systems where compass accuracy and minimal electrical interference are critical.

Technical Specifications

• Geomagnetic Sensor: PNI RM3100
• CAN Node MCU: STM32L431xC, 256KB Flash

Interfaces

• CAN with DroneCAN protocol for integration into the drone bus
• UART2 — MSP output (MatekL431-Periph firmware)
• UART3 — for connecting an external GNSS module
• ST debug: SWCLK and SWDIO pins for programming and debugging

Indicators

• Blue, fast blink: booting
• Blue, slow blink: operating
• Red: 3.3V indicator

Power and Operating Conditions

• CAN-L4-3100 board supply voltage: 4.5~5.5V @5V pad/pin
• Current consumption: 22mA
• Operating temperature: -40~85 °C

Physical Characteristics

• Board size: 36mm x 25mm x 10mm
• Weight: 6 g
• 3D file: CAN-L4-3100_step.zip

Firmware and Updates

• Supported ArduPilot AP_Periph firmware variants: MatekL431-GPS or MatekL431-Periph
• Firmware update via DroneCAN GUI Tool or Mission Planner (AP_Periph.bin file)
• Update via STLink available with AP_Periph_with_bl.hex file

Configuration Parameters

• CAN_P1_DRIVER = 1 — when connected to CAN bus1 port
• CAN_P2_DRIVER = 1 — when connected to CAN bus2 port
• COMPASS_AUTODEC = 1 — automatic compass detection

Package Contents

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

Practical Tips and Recommendations

• The CAN-L4-3100 module comes with pre-installed "MatekL431-GPS" firmware.
• The MSP function is disabled in the "MatekL431-GPS" firmware. If MSP operation is required, reflash the module to "MatekL431-Periph" (AP_Periph_with_bl.hex) via SWCLK/SWD pins using ST-LINK.
• Install the magnetometer away from power cables, ESCs, motors, and ferrite material parts. Recommended distance: >=10 cm.
• The two mounting tabs can be trimmed if not needed for attachment.
• If the CAN wires are too long, connect the "120R" jumper for correct operation.

When designing and integrating the MATEK CAN-L4-3100 magnetometer, all specified characteristics and recommendations should be considered to ensure the most stable and accurate operation of your drone's navigation system. This module is suitable for professional projects and upgrades of ArduPilot-based autopilots where reliability, low power consumption, and high sensor sensitivity are important.

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