TBS DroneCAN GPS Module UBX-M9140

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

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