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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
4.5 ★★★★★
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Product Reviews
★★★★★ 5
My Favorite Product in the Milky Line
Style: Milky Toner, Style: Milky Toner
This toner has easily become my favorite product from Thayers brand and all other brands. I’m very picky about my skincare routine, especially when it comes to products I use daily, and this one has completely earned a permanent spot in my routine.
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The formula works beautifully with the rest of the Milky line, and my skin genuinely looks and feels better when I use it regularly. I’ll absolutely continue repurchasing this product.
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Reviewed in the United States on May 26, 2026
★★★★★ 5
Hydration + glow without irritation!
Style: Milky Toner
I’ve been using this milky toner for a couple months now and it has quickly become a staple in my routine. The texture is lightweight but creamy, which makes it feel more nourishing than a typical watery toner. It absorbs really well into my skin without leaving and sticky or greasy residue. I haven’t noticed that my skin feels softer and more hydrated after applying it AND it layers so nicely with serums and moisturizers. One thing I really appreciate is how gentle it is on my skin. It doesn’t cause any irritation, redness or breakouts! I actually feel like it helps calm my skin on days when It feels a little dry or “stressed”. Overall, I think it is a great option if you are looking for a hydrating, soothing toner that fits easily into either a simple or more detailed skincare routine. I will 100% be repurchasing when I run out of my current bottle
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Reviewed in the United States on April 10, 2026
★★★★★ 5
This will make your face soft and glowy!
Style: Milky Toner
This is GOOD STUFF! First cleanse face, then I tried using both a cotton ball and a cotton round, but in the end, I put a small amount right on my fingers and massage into my face. It seems pretty wet at first, so I let it air dry for a minute before adding my moisturizer. My face really seems smooth and even has a glow to it, which is unbelievable to me! My face also feels very soft and hydrated (and usually has some dry patches).
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Reviewed in the United States on April 11, 2026
★★★★★ 5
Practically perfect in every way
Style: Milky Toner
The results (in combination with other care products) have been amazing!
I’m a 37yo trans-woman, who in my late 20s looked like I was in my mid 30s.
My skin is much smoother than it used to be (to be fair, in addition to laser hair removal’s results), my tone is more uniform, and with more hydration is fewer wrinkled areas.
This is definitely a critical part of my skin care routine, which allows me to need hardly anything for my make-up routine.
Value/price is fair, and I have no issue paying that again.
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Reviewed in the United States on May 26, 2026
★★★★★ 4
Nice
Style: Milky Toner
I have tried the regular version of this toner years ago and I loved it. It was one of the few products I have used that I could actually notice a visible difference after using. I liked the texture of this one and was excited to try it. I was using Glycolic acid prior to ordering this and wasn't thrilled with my results. This one was nice because it felt nice on my skin and there was definitely no burning even if I use it on an active or open acne spot. There's no scent and the ingredients are fairly good. However, I would be lying if I said I have noticed any visible signs of it working.
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Reviewed in the United States on April 4, 2026
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