PMU 2Lite Configuration Guide (ArduPilot)

This chapter covers using PMU 2Lite with an ArduPilot controller.

TIP

PMU 2Lite is normally plug and play and needs none of the setup below — only the wiring.

Enable voltage and current monitoring

Connect the controller to Mission Planner, set the following in the Full Parameter List, write the parameters and reboot:

• CAN_P1_DRIVER set to 1.
• CAN_P2_DRIVER set to 1.
• BATT1_MONITOR set to 8.

TIP

Firmware older than ArduPilot 4.6 uses BATT_MONITOR (set it to 8).

Power information

Parameters

PMU 2Lite exposes 7 user parameters:

BATTERY_ID          // Battery ID, currently unused
CAN_NODE_ID         // CAN node ID
CELL_SERIES_NUM     // Cell count, default 0 (auto-detect), used for capacity estimation
CELL_FULL_VOLTAGE   // Full voltage per cell, used for capacity estimation
CELL_EMPTY_VOLTAGE  // Empty voltage per cell, used for capacity estimation
CALIBRATION_PARAM   // Calibration flag, 1 = calibrated (read-only)
USE_TMP112          // Temperature sensor, default 1 (on), set 0 to disable

NOTE

The defaults suit most users; do not change them unless necessary.

Editing parameters

1. Connect the controller to Mission Planner.
2. Open Config > Optional Hardware > Dronecan/UAVCAN Setup.
3. Click mavlink-can1 and find the PMU 2Lite section.

4. Edit the parameters, save, then reboot the controller.

High-voltage cells

PMU 2Lite assumes a standard LiPo voltage platform (4.25V full). With high-voltage cells (4.35V / 4.45V) you must change the parameters so capacity is estimated accurately.

For a 6S pack with 4.35V full and 3.3V empty per cell:

• CELL_SERIES_NUM set to 6.
• CELL_FULL_VOLTAGE set to 4350.
• CELL_EMPTY_VOLTAGE set to 3300.

Click Write params, then reboot the controller.