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.