CAN PMU Configuration Guide（PX4)

This section applies to CAN PDB with PX4 flight stack (autopilot running PX4 firmware).

Enable voltage and current monitor

To enable voltage and current detection, you need to set the autopilot parameters, connect the flight controller to the QG ground station, set the following parameters in all parameter tables, and restart the autopilot after writing:

UAVCAN_ENABLE set to "Sensor Automatic Config"
UAVCAN_SUB_BAT set to"Raw data"

View power information

## Parameter

CAN PDB provides 7 parameters for users to set.

BATTERY_ID  // invalid
CAN_NODE_ID  //CAN ID
CELL_SERIES_NUM  //The number of battery cells, the default is 0 (autonomous identification), used to estimate the battery percentage.
CELL_FULL_VOLTAGE //The full-charge voltage of a single battery cell, used to estimate the battery percentage.
CELL_EMPTY_VOLTAGE  //The empty voltage of a single cell is used to estimate the battery percentage.
CALIBRATION_PARAM  //Calibration status identifier. If the value is 1, it has been calibrated (read only and cannot be written).
USE_TMP112  //Temperature sensor, default is 1 (on), set to 0 to turn it off.

[!NOTE] The default parameters can meet the needs of most users, do not modify them unless necessary.

Change parameters

Connect the autopilot to the QGoundControl ground station, open the Analyze Tools》MAVlink console interface, and send the following commands for configuration:

• uavcan status //Get the NODE ID of CAN PDB (you need to press the "Enter" key to send the command)
• uavcan param list+[ID] //Read CAN PDB parameter information
• uavcan param set + [ID] + [param name] + [value] //Set (modify) parameter values
• uavcan param save+[ID] //Save parameters

High voltage battery settings

Take a 6S battery pack with a single cell with a full charge of 4.35v and an empty voltage of 3.3v. The CAN PDB node ID is 49 as an example. Send the following command in the MAVlink console interface:

uavcan param set 49 CELL_SERIES_NUM=6
uavcan param set 49 CELL_FULL_VOLTAGE=4350
uavcan param set 49 CELL_EMPTY_VOLTAGE=3300
uavcan param save 49

[!NOTE] If it prompts that the save failed, restart the device and read the device configuration information again to check whether the modification is successful.