Packages Includes: 1x TBS DroneCAN GPS Module UBX-M9140 1x Wire Set Electrical Characteristic GNSS chip: M9140-KB Supported constellations: GPS L1 C/A, GLONASS L10F, BDS B1I, Galileo E1B/C, QZSS, SBAS (WAAS/EGNOS/MSAS/GAGAN) Channels: 92 search channels Operating modes: GPS/GLONASS/BDS/GALILEO, combinable Assisted systems: SBAS, QZSS Sensitivity Tracking sensitivity: -167 dBm Reacquisition sensitivity: -160 dBm Cold-start sensitivity: -148 dBm Hot-start sensitivity: -159 dBm Horizontal accuracy: 1.5 m CEP Velocity accuracy: 0.05 m/s Dynamic heading accuracy: 0.3° 1PPS time accuracy: RMS 30 ns, 99% 60 ns Start Time Cold start: 24 s Assisted start: 2 s Hot start: 2 s Data Output Baud rate: 4800–921600 bps (default 38400 bps) Output level: CAN level Protocols: NMEA, UBX NMEA sentences: RMC, VTG, GGA, GSA, GSV, GLL Update rate: 0.25–25 Hz (default 1 Hz) Flash: Onboard flash for configuration retention on power loss 1PPS: Configurable 0.25 Hz–10 MHz, default period 1 s, 100 ms high pulse MCU MCU: STM32F103CBT6 (Cortex-M3, 72 MHz, 128 KB Flash, 20 KB SRAM) Connectors: 1.25 mm pitch, 6-pin ×2 Sensors: Compass QMC5883L; no barometer; no 6-axis IMU Buzzer/SD/USB/Switch: Not available Interface: CAN 2.0 A/B LED PPS/FIX: Red, solid on power, blinks when fixed TX (GPSDATA): Blue, blinks when data is output CAN: Green, slow blinking after successful CAN communication CAN termination: 120 Ω not populated by default; short the onboard pads to enable Power and consumption Supply voltage: 5.0 V DC (12 V requires hardware customization) Current: ~120 mA Compass QMC5883 Physical and Environmental Dimensions: Φ55.8 × 9.8 mm Weight: 32 g Operating temperature: -40 to +85 °C Storage temperature: -40 to +105 °C Pin summary MCU header: 3V3, TXO, RXI, DIO, CLK, GND (3.3 V program/debug) GPS/CAN header: VCC (default 5 V), TX, RX, CANL, CANH, GND NMEA Output and Support Provides standard NMEA examples for no-fix and fix states Supports GGA/GLL/GSA/GSV/RMC/VTG fields and flags (compatible with NMEA 4.10 flags) Setup DroneCAN Mode Verify the following parameters are set on your autopilot via your ground station. CAN_D1_PROTOCOL = 1 (set virtual driver of CAN1 to DRONECAN) CAN_P1_DRIVER = 1 (assuming its on the first CAN bus of the autopilot) GPS_TYPE: 9 （set the communication protocol type of GPS 1 to DRONECAN） NTF_LED_TYPES: 231 Set to DRONECAN for LED type UART Mode GPS TYPE = 19 (MSP) 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. User Manual - [Download]
