Matek AP Periph CAN Node CAN-G474

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Availability: Available Unavailable

Product SKU: 93D-13431

Product Details

Matek CAN Node-G474 is an Adapter Node based on ArudPilot AP_Periph firmware.

With 5Mbit/s CAN transceiver and STM32G474 MCU, CAN-G474 is capable of CANFD.

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.

Check out our all our Receivers and the rest of our Matek products!


  • MCU: STM32G474CE, 512KB Flash
  • CAN transceiver data rates up to 5Mbit/s
  • 2x CAN bus
  • 4x UARTs
    • for peripheral GNSS, Rangefinder, Proximity, EFI, RC input(receiver)
    • support GNSS, Compass, Barometer sensors over MSP protocol. MSP is enable on TX3 by default.
  • 2x I2C bus
    • for peripheral I2C Airspeed sensor, Barometer, Compass
  • 1x SPI
    • for peripheral RM3100
    • SPI pads for RM3100 are on bottom side, with “CS, MOSI, MISO, SCK” silkprint
  • 11x PWM outputs
    • for Servos and ESC, all PWMs support DMA/DShot
    • PWM1-10 on DuPont 2.54mm holes
    • PWM11 pad is on bottom side, with “11” silkprint
  • ST debug, SWC & SWD(on bottom side)
  • UART1(TX1,RX1) support firmware update in DFU mode
  • LED
    • Blue, Fast blinking,  Booting
    • Blue, Slow blinking, communicating with flight controller
    • Red, 3.3V indicator
  • Input voltage range: 4.5~5.5V  @5V pad/pin
  • Power consumption: 62mA
  • Operating Temperatures: -30~85 °C


  • 5x JST-GH-4P(SM04B-GHS-TB) for CAN1, CAN2, I2C1, UART1 and UART4
  • 1x JST-GH-6P(SM06B-GHS-TB) for UART3+I2C2
  • 18x DuPont 2.54mm holes
  • Board Size: 36mm*36mm*6mm.  5.2g,
  • Mounting: 30.5mm 4x Dia.3mm
  • 3D file :


  • ArduPilot AP_Periph  MatekG474-Periph for peripheral sensors
  • ArduPilot AP_Periph  MatekG474-DShot for DroneCAN-PWM output
  • Update via DroneCAN GUI Tool or Mission Planner–DroneCAN Tab, load “AP_Periph.bin
  • Update via STM32CubeProgrammer in DFU mode,  connect USB-TTL module to UART1, Plug USB while holding the DFU button in,  load “AP_Periph_with_bl.hex“.


  • Just need to connect either one CAN bus to flight controller, or connect both to FC for redundancy.
  • SWC/SWD share MCU pins with SDA1/SCL1
  • Other MCU pins not specified are useless for now.
  • CAN-G474 support 1Mbit ~ 5Mbit CAN/CANFD,  CAN-L431 works with 1Mbit CAN.

Flight controller Parameters for sensors

  • CAN_P*_DRIVER = 1
  • GPS*_TYPE = 9 DroneCAN
  • COMPASS_TYPEMASK = 0 (DroneCAN Unchecked)
  • ARSPD*_TYPE = 8 (DroneCAN)
  • BATT*_MONITOR = 8 (DroneCAN)
  • RNGFND*_TYPE = 24 (DroneCAN)
  • EFI*_TYPE = 5 (DroneCAN)
  • PRX*_TYPE = 14 (DroneCAN)

Flight controller Parameters for PWM

  • CAN_P*_DRIVER = 1
  • CAN_D*_UC_ESC_OF = 4   (Plane 4.2.1 or newer)
  • CAN_D*_UC_ESC_BM = x
  • CAN_D*_UC_SRV_BM = x
  • BRD_SAFETYENABLE = 0 (if your flight controller doesn’t have safety pin)
  • Tutorial : Using MatekL431 adapters for PWM and DShot

Package Includes:

  • 1x CAN-G474 board
  • 2x JST-GH-4P to JST-GH-4P 20cm silicon wire
  • 1x JST-GH-6P to JST-GH-6P 20cm silicon wire