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Description
Matek AP Periph CAN Node CAN-G474Matek 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!
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!
Specifications:
- 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
Physical
- 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 : CAN-G474_STEP.zip
Firmware
- 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“.
Note
- 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_D*_PROTOCOL = 1
- 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_D*_PROTOCOL = 1
- 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
Shipping Notes
- Free Standard Shipping on $100+ Orders to the USA.
- Except Preorder products are shipped in 48 hours.
- Delivery to the USA:
- Standard Shipping : 3-10 business days
- If time is of the essence, please consider selecting expedited delivery for faster service.
Exchange/Return Notes
- We offer a 30-day return/exchange service after receiving.
- Final sale items are not eligible for returns or exchanges.
- To process your return/exchange, please contact us at [email protected]
- Please click here for more details>>> Return & Exchange Policy
4.2 ★★★★★
Based on 13 reviews
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Product Reviews
★★★★★ 5
Water Shoes for 3-Week Trip to Amazon, Machu Picchu and the Galapagos
Size: 10.5, Color: Blue/Grey
Bought these shoes (along with a pair of Merrell Gore-TEX Moab Speed 2 GTX) for a three-week trip through some pretty eclectic weather and terrain. I selected these over some much more expensive brands and was very happy with my decision. I typically wear a size 11 athletic shoe (I measure a 10.5), but the 11–11.5 Humtto shoes were way too large and good not get a good fit. I returned that pair, and downsized to the 10.5. They fit me perfectly. Before leaving on the trip I used them to work out at the gym and do some light hiking. They were first seriously tested in the Amazon. The soles provide pretty darn good traction, and they can be worn with or without socks. Because of their hiking and quick drying capabilities, I ended up using these shoes about 50% of the trip. They look great, are comfortable, can be adjusted for fit, and have a decent (medium) arch and heel padding. They are not zero drop from heel to toe, but pretty close. The EVA midsole and memory foam insole for cushioning is great, but do not make the mistake I made by heating it on a heater to accelerate drying. It warped the insole a bit (they are still usable). These are great and survived some pretty extensive testing throughout Peru and Ecuador. If you are stepping into some pretty questionable conditions, these sure are a great back up to your hiking shoes when it may get sloshy and dry shoes are required for the next day.
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Reviewed in the United States on May 3, 2026
★★★★★ 5
Excellent shoes for what you’re buying them.
Size: 12, Color: Black
My 2nd pair of this brand. These are awesome. Easy to come off and get on. They stay cool in the summer, they are comfortable with or without socks. I use them in lake and pool, and they still look new. Very inexpensive, and for a change they look actually nicer in person than in the photos. I dont know how they would be doing any athletics but for everything else, including walking a lot and standing for hours, they worked great.
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Reviewed in the United States on May 14, 2026
★★★★★ 5
Surprisingly awesome!
Size: 10.5, Color: Dark Gray/Beige
I have only been wearing these for a few days so I may have to revise the review over time, but so far these shoes are absolutely outstanding. If you owned and enjoyed the original Salomon TechAmphibians, later ruined with new designs by the maker, these are their natural heirs. I took a chance on these shoes since the design is very similar. They are lightweight and comfortable and they provide great footbed support whether loose or tightly laced. Like the early TechAmphibians, they also have the cool feature of a collapsing heel upper, allowing their use as slides. They are also half the price that the Salomons sold even 10 or more years ago. The sole has an aggressive tread pattern and is quite grippy wet or dry.
I measure as 10.5 D on the shoe size device but almost no shoes in that size fit me in the last few years. I got the 11-11.5 size first but it was swimming on me. 10.5 fits well with a bit of extra room so I can wear them with or without socks.
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Reviewed in the United States on May 12, 2026
★★★★★ 4
Great shoes
Size: 10, Color: Grey, Size: 10, Color: Grey
I got 2 pairs of these specifically for a water rafting trip. The first pair was a little large, so I went down a half size ( and gave the larger pair to my son). They are comfortable, even for wide feet - although after a long day of use in the water, there was some chaffing on the outsides of my feet. It loosened up a bit across my wide foot, after getting wet.
These worked great! They have adjustable strap across the back, that pulls tight on the outside.
the laces are elastic and tighten by pulling and then pushing the stopper down onto the laces. They didn't slip (loosen) but, to get them tight, I had excessive amount of laces hanging out (had to tuck them into the tongue.
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Reviewed in the United States on September 2, 2024
★★★★★ 5
Exactly what I was looking for
Size: 9-9.5, Color: Black Denim Blue
Perfect for what I wanted in an active casual shoe. Love the tread, it's both grippy and durable but flexible, the fit, adjustability, easy to take on and off, perfect amount of cushion and stability. Can wear with or without socks comfortably.
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Reviewed in the United States on April 7, 2026