ArudPilots’ AP_Periph firmware, It is a GNSS+COMPASS+BAROMETER+IMU peripheral with CAN/UAVCAN and UART/MSP interfaces, plus 4x spare UARTs, 1x I2C expansion bus for additional peripherals. M9N-F4 uses multi-constellation GNSS powered by u-blox NEO-M9N , NEO-M9N is a concurrent GNSS receiver which can receive and track multiple GNSS systems. Owing to the multi-band RF front-end architecture all four major GNSS constellations, GPS,Galileo, GLONASS and BeiDou can be received concurrently. M9N-F4-3100 integrates an industrial-grade compass PNI RM3100 which provides high resolution, low power consumption, no hysteresis, large dynamic range, and high sampling rates. M9N-F4 series is not just a AP_Periph with full AHRS sensors. It can also work as a flight controller with 9 PWM outputs. Specifications GNSS u-blox NEO-M9N (GPS, GLONASS, Galileo and BeiDou) Magnetic Compass QMC5883L (M9N-F4-5883) Barometer DPS310 IMU ICM20602 MCU STM32F405RGT6 MicroSD socket Patch GNSS Antenna 25*25*4mm 4x spare UARTs(1,2,3,5), UART4 for onboard NEO-M9N 1x CAN, UAVCAN Protocol 8x PWM +1x 2812LED outputs 1x I2C, QMC5883L(M9N-F4-5883) MicroUSB and DFU button Input voltage range: 4.5~5.3V (5V pad/pin) Power consumption: 120mA Operating Temperatures: -20~80 °C M9N-F4-5883, 36mm*36mm*10mm, 17.3g Includes 1x M9N-F4-5883 2x JST-GH-4P to JST-GH-4P 20cm silicon wire 1x JST-SH-3P to JST-SH-3P 8cm silicon wire Mounting base (1x PCB plate, 4x silicon grommets, 4x Nylon standoffs M3x7, 4x Nylon screws M3*8) Firmwares ArduPilot AP_Periph: F405-MatekGPS ArduPilot Plane/Copter/Rover: MatekF405-CAN INav Target: MATEKF405CAN