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M9 AutoPilot User Manual
WenTian M9 AutoPilot Specifications
Flight Controller Parameters |
|
|---|---|
| Hardware Standard | FMU v6X |
| Main MCU | STM32H753 |
| IO MCU | STM32F103 |
| IMU Vibration Damping | Hengshu Damping Architecture |
| Accelerometer & Gyroscope | Triple-redundant IMU: SCH16T (Tactical Grade) + ADIS16507 (Industrial Grade) + IIM42653 (Industrial Grade) |
| Barometer | OneASP Pro ×2 + ICP20100 |
| Magnetometer (Compass) | RM3100 |
| PWM Relay | Yes |
| RC Receiver Protocol Input | SBUS, CRSF |
| Number of PWM Channels | 16 |
| PWM Level Switching | Supports switching between 3.3V and 5V |
| Power Interfaces | 2 Bus ports, 6 DroneCAN ports |
| Servo Voltage Monitoring | 9.9V |
| Operating Temperature | -20℃ to 85℃ |
| Operating Voltage | 4.6V - 5.4V (when not powered via the Hub) |
| Hub | |
| Interface Details | CAN1 port ×3, CAN2 port ×3, PWM (Servo) port ×16, Servo Power port ×1, SBUS IN ×1, Power port ×1, Power Monitoring port ×2, Main Power port ×1, Telem-TTL ×2, Telem-RS232 ×1, Telem-RS422 ×1, GPS1-TTL port ×1, GPS2-TTL port ×1, Ethernet port ×1, I2C port ×1, ADC port ×1, Type-C port ×1 |
| Flight Controller Voltage Input (via Hub) | 26V ±10V |
| Built-in RTK | |
| Supported Satellite Bands | GPS: L1C/A, L1C, L2C, L2PY, L5 GLONASS: L1CA, L2CA, L2P, L3CDMA Beidou: B1I, B1C, B2a, B2I, B2b, B3I Galileo: E1, E5a, E5b, E6 QZSS: L1C/A, L1 C/B, L2C, L5, L6 |
| Navigation Update Rate | 20Hz |
| Special Features | Anti-interference, Anti-spoofing |
| RTK Positioning Accuracy | Horizontal: 0.6 cm + 0.5 ppm Vertical: 1 cm + 1 ppm |
| Single Point Positioning Accuracy | Horizontal: 1.2m, Vertical: 1.9m |
| DGNSS Positioning Accuracy | Horizontal: 0.4m, Vertical: 0.7m |
| Velocity Accuracy | 3 cm/s |
| Heading Accuracy | At 1m baseline: 0.15° |
| Timing Accuracy | xPPS out: 5ns, Event accuracy < 20 ns |
| Time To First Fix | Cold start: < 45s, Hot start: < 20s, Re-acquisition: 1s |
| Data Protocols | DroneCAN Protocol SBF, NMEA 0183, v2.3, v3.03, v4.0 RTCM v3.x (MSM included) Input |
| Built-in Airspeed Sensor | |
| Airspeed Sensor Redundancy | Dual Sets |
| Airspeed Measurement Range | 0 to 439.9 km/h (122.2 m/s) |
| Maximum Error Band | ±0.15% |
| Temperature Compensation | Yes |
| Linear Calibration | Yes |
| Built-in Telemetry Link | |
| Communication Frequency | 902-928 MHz |
| Transmission Protocol | Transparent Transmission |
| Transmission Technology | Frequency Hopping |
| Communication Range | 60 km (Line of Sight, Good Electromagnetic Environment) |
| Output Power | 100 mW to 1 W (20-30 dBm), Factory default: 1 W |
| Air Data Rate | Up to 276 kbps |
| Receiver Sensitivity | -111 dBm @ 57.6 kbps -110 dBm @ 115.2 kbps -108 dBm @ 172.8 kbps -107 dBm @ 230.4 kbps -106 dBm @ 276 kbps |
J30J Connector Pinout for Wentian M9 Flight Controller
Hub Interface Pinout
To facilitate customer testing and use, the M9 Flight Controller is provided with a hub. The hub interface pinout is as follows:
Frequently Asked Questions
What is the model of the connectors used on the hub?
04R-JWPF-VSLE-S
What firmware is supported?
Currently, only ArduPilot firmware is supported. PX4 firmware support will be available in the future.
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