MATEK CAN-L431 AP_Periph CAN Node DroneCAN L431 26X26mm for ArduPilot GNSS Compass Barometer Airspeed Sensor GPIO



  • CAN-L431 is an Adapter Node based on ArudPilot AP_Periph firmware.

  • With this board, you can easily utilize the ArduPilot driver library to convert ArduPilot supported GNSS, Compass, Barometer,Airspeed sensor, and GPIO based (PWM, Buzzer/LED notify) peripherals to DroneCAN bus peripherals.



  • MCU: STM32L431xC, 256KB Flash

  • CAN transceiver data rates up to 5 Mbit/s in the CAN FD fast phase

  • 1x CAN, DroneCAN Protocol  (2x GH-4P connectors in parallel)

  • 3x UARTs

  • UART1, spare

  • UART2, MSP default, DFU

  • UART3, GPS default

  • 1x I2C
    • for peripheral Airspeed sensor

    • for peripheral Barometer

    • for peripheral Compass QMC5883L

    • 1x SPI
      • for peripheral RM3100

    • 4x ADC
      • BATT_VOLT, PIN 5

      • BATT_CURR, PIN 6

      • BATT2_VOLT, PIN 15

      • BATT2_CURR, PIN 16

      • 5x PWM outputs

      • 1x GPIO with TIM16 for buzzer

      • ST debug, SWCLK & SWDIO



      • Blue, Fast blinking,  Booting

      • Blue, Slow blinking, working

      • Red, 3.3V indicator

      • Input voltage range: 4.5~5.5V  @5V pad/pin

      • Power consumption: 40mA

      Operating Temperatures: -20~80 °C



    • 2x JST-GH-4P(SM04B-GHS-TB) for CAN

    • 1x JST-GH-4P(SM04B-GHS-TB) for I2C

    • 1x JST-GH-6P(SM06B-GHS-TB) for UART3+I2C

    • Board Size: 26mm*26mm*6mm.  3.7g

    • 3D file :

    • Firmware
      • ArduPilot AP_Periph  MatekL431-Periph, or MatekL431-Airspeed

      • Update via DroneCAN GUI Tool


    • 1x CAN-L431 board

    • 1x JST-GH-4P to JST-GH-4P 20cm silicon wire

    • 1x JST-GH-6P to JST-GH-6P 20cm silicon wire


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