PMU 2Lite Configuration Guide (PX4)

This chapter applies to scenarios where PMU 2Lite is used with the PX4 flight stack (controllers running PX4 firmware).

[!TIP] Under normal circumstances, the PMU 2lite is plug-and-play. No configuration mentioned in this chapter is required. Only hardware connections are required.

Enabling Voltage and Current Detection

To enable voltage and current detection, you need to configure the controller parameters. Connect the controller to the QGroundControl (QGC) ground station, set the following parameters in the Full Parameter List, and restart the controller after writing the parameters:

PMU 2lite

UAVCAN_ENABLE set to "Sensor Automatic Config" (Sensor Auto Configuration)
UAVCAN_SUB_BAT set to "Raw data" (Raw Data)

Viewing Power Information

PMU 2lite

Custom Configuration

PMU 2Lite provides 7 parameters for users to customize:

BATTERY_ID // Battery ID, Invalid
CAN_NODE_ID // CAN Node ID
CELL_SERIES_NUM // Number of battery cells, default is 0 (automatic recognition), used to estimate battery percentage.
CELL_FULL_VOLTAGE // Full voltage of a single cell, used to estimate battery percentage.
CELL_EMPTY_VOLTAGE // Empty voltage of a single cell, used to estimate battery percentage.
CALIBRATION_PARAM // Calibration status identifier; a value of 1 indicates calibrated (read-only, cannot be written).
USE_TMP112 // Temperature sensor, default is 1 (enabled); set to 0 to disable.

[!NOTE] Under normal circumstances, the default parameters can meet the needs of most users. Do not modify them unless necessary.

Modifying Parameters

Connect the controller to the QGroundControl (QGC) ground station, open the Analyze Tools (Analysis Tools) > MAVLink Console interface, and send the following commands for configuration:

  • uavcan status // Obtain the NODE ID of PMU 2Lite (press the "Enter" key to send the command)
  • uavcan param list + [ID] // Read PMU 2Lite parameter information
  • uavcan param set + [ID] + [Parameter Name] + [Value] // Set (modify) PMU 2Lite parameter values
  • uavcan param save + [ID] // Save PMU 2Lite parameter configuration

PMU 2lite

High Voltage (HV) Battery Cell Setup

The PMU 2Lite system is configured for a standard lithium battery voltage platform (4.25V when fully charged). For high-voltage battery platforms (4.35V/4.45V), the PMU 2Lite system parameters must be modified for more accurate power measurement.

Take a 6S battery pack (where the full voltage of a single cell is 4.35V and the empty voltage is 3.3V) with a PMU 2Lite node ID of 49 as an example. Send the following commands 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 a save failure is prompted, restart the device and re-read the PMU 2Lite configuration information to check if the modification was successful.

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