mRo AP_Peripheral / CAN Converter / RM3100 / DSP310

About the price: Half of the price tag goes to the solid RM3100 Compass. However, after you test it, you won't go back.

The mRo KItCAN is a powerful kit of features+firmware via CAN that tackles most of the robotic applications out there. With just 4 wires [CAN], you can cleanly have access to the most powerful magnetometer available today, the best barometric pressure sensor we've ever used, GPS+I2C ports that support all legacy uBlox GPS sensors, and a firmware that supports our Airspeed Sensor (via I²C). If that is not enough, it also includes an RGB LED and Arm Switch/Button.

The idea is to allow the system integrator to mount all the sensors as far as possible (usually in the front of the fuselage or the tip of the wing) and run a single CAN cable to autopilot for a clean and robust setup. Or it can all be mounted together as follows:



Please go to our docs site for more info.

[Quickstart]
Make sure you are using the latest version of Mission Planner. With the following firmware versions or newer:

ArduPlane >= V4.0.5
ArduCopter >= V4.0.3
ArduRover >= V4.0.0

Go to Full Parameter Tree on Mission Planner and verify those are enabled (some firmware versions are enabled by default, others are not)

CAN_P1_DRIVER - > 1
GPS_TYPE -> 9 UAVCAN

Then, make sure the UAVCAN compass driver is not disabled (UAVCAN should be unchecked). If your controller has more than 3 internal compasses, you should disable the least important one:

COMPASS_TYPEMASK->UAVCAN (Unchecked)

Connect your mRo Location One to your controller via CAN and Restart.

NTF_LED_TYPE -> UAVCAN->Checked (Only if you want the RGB enabled)

If you want to enable the I2C airspeed, on the autopilot/controller parameters via Mission Planner set:

ARSP_TYPE -> 8 UAVCAN

Then you must access your mRo Location One CAN parameters. To do so, follow these steps:

Mission Planner->Initial Setup->Optional Hardware->UAVCAN-> SLCan Mode CAN1 (or 2) -> Parameters

1 min later inside the CAN Parameters, change the following:

ARSP_TYPE -> 1
For mRo I2C Airspeed Sensor JST-GH MS4525DO

ARSP_TYPE -> 4
For mRo Next-Gen MS5525 Airspeed Sensor


Write and reboot. Enjoy!

*Remember that mRo X2.1 Red Board has the CAN signal H and L crossover. MCU:
STM32F303 ARM Microcontroller

Distances between holes (center to center): 14mm x 31.5mm
Holes diameter: 3.2mm

The measurements below are shipping related: