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 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 LED 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 Physical 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 Firmware ArduPilot AP_Periph MatekL431-Periph, or MatekL431-Airspeed Update via DroneCAN GUI Tool Due to different product batches, the appearance may vary, which does not affect the use Colour:Blue Material:Composite Materials Size:26x26mm Package Contents: 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 Only the above package content, other products are not included. Note: Light reflection and different displays may cause the color of the item in the picture a little different from the real thing. The measurement allowed error is +/- 1-3cm.