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CAN Node F303 - M10042 hwrev


The CAN Node is a product of a collaborative effort with Ardupilot, stemming from a shared ambition to establish CAN peripherals as a standard in the drone community. Unlike other boards with open-source hardware but closed-source code, the CAN Node is fully open. The CAN Node F303 represents the second iteration of our CAN Node, offering increased flash space.

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Specification Value
Microcontroller STM32F303 ARM Microcontroller
Dimensions 25 mm x 21 mm
Weight 3.20 g
UART 2 (GPS Port and solder pads)
CAN 1 (shared)
I2C 1 (GPS port and solder pads)
SPI 1 (2 Chip Selects)
ADC 2 lines
GPIO 3 lines
Operating voltage 5 V
Max. Current 500 mA
Firmware AP_Periph: f303-Universal


Featuring AP_Periph firmware, the CAN Node includes a CAN bootloader for effortless updates through the same CAN port. Users can configure onboard parameters with specific CAN Node IDs or opt for auto-allocated IDs. The hardware design is free and open-source, enabling contributions to the CAN peripheral domain using a proven CAN/MCU interface.


Quick Start

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

Parameter Value
ArduPlane v4.0.5
ArduCopter v4.0.3
ArduRover v4.0.0

Go to Full Parameter Tree on Mission Planner and verify the following are enabled:

Parameter Value

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:

Parameter Value

I2C Airspeed sensor

If you want to enable the I2C airspeed, on the autopilot/controller parameters via Mission Planner set ARSPD_TYPE = 8 UAVCAN

Use the following parameters depending on the type of airspeed you are connecting.

  • ARSPD_TYPE = 1 For I2C Airspeed Sensor JST-GH MS4525DO
  • ARSPD_TYPE = 4 For MS5525

Port pinout tables

GPS Port

Pin Color Signal TTL/Voltage Level
1 red VCC 5V
2 black TX 3V3
3 black RX 3V3
4 black I2C_SCL 3V3
5 black I2C_SDA 3V3
6 black GND GND

CAN Port

Pin Color Signal TTL/Voltage Level
1 red VCC 5V
2 black CAN_H
3 black CAN_L
4 black GND GND

I²C Port

Pin Color Signal TTL/Voltage Level
1 red VCC 5V
2 black I2C_SCL (pull-up on autopilot) 3V3
3 black I2C_SDA (pull-up on autopilot) 3V3
4 black GND GND