PX4-Autopilot/docs/zh/dronecan/cuav_can_pmu.md

# CAUV CAN PMU

CAN PMU<sup>&reg;</sup> is a high-precision [DroneCAN](index.md) power module developed by CUAV<sup>&reg;</sup>.
It runs the CUAV ITT compensation algorithm, which enables drones to get the battery data more accurately.

![CAN PMU](../../assets/hardware/power_module/cuav_can/can_pmu.jpg)

It is recommended for use in large commercial vehicles, but might also be used for research vehicles.

## 购买渠道

- [CUAV store](https://store.cuav.net/)
- [CUAV aliexpress ](https://www.aliexpress.com/item/4000369700535.html)

## Hardware Specifications

- **Processor:** STM32F412
- **Voltage input**: 6~62V\(2-15S\)
- **Max current:** 110A
- **Voltage accuracy:** ±0.05V
- **Current accuracy:** ±0.1A
- **Resolution:** 0.01A/V
- **Max output power:** 6000W/90S
- **Max stable power:** 5000W
- **Power port output:** 5.4V/5A
- **Operating temp:** -20~+100
- **Firmware upgrade:** Supported.
- **Calibration:** Not needed.
- **Interface Type:**
  - **IN/OUT:** XT90\(Cable）/Amass 8.0\(Module）
  - **Power port:** 5025850670
  - **CAN:** GHR-04V-S
- **Appearance:**
  - **Size:** 46.5mm \* 38.5mm \* 22.5mm
  - **Weight:** 76g

## 硬件安装

### Package Contents

![CAN PMU list](../../assets/hardware/power_module/cuav_can/can_pmu_list.png)

### 针脚定义

![CAN PMU](../../assets/hardware/power_module/cuav_can/can_pmu_pinouts_en.png)

![CAN PMU](../../assets/hardware/power_module/cuav_can/can_pmu_pinouts_en2.png)

## 布线

![CAN PMU](../../assets/hardware/power_module/cuav_can/can_pmu_connection_en.png)

The connection steps are:

- Connect the flight control CAN1/2 and the module CAN interface.
- Connect the V5 series power cable to the V5 Flight Control Power2 (if other flight controllers are connect to the Power interface) and the module Power interface.

## Flight Controller Setup

Set the following parameters in _QGroundControl_ [Vehicle Setup > Parameters](../advanced_config/parameters.md) and then restart:

- [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE): set to: _Sensors Automatic Config_

  ![qgc set](../../assets/hardware/power_module/cuav_can/qgc_set_en.png)

- [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT): set to: _Raw data_

  ![QGC - Set UAVCAN_SUB_BAT parameter to raw data](../../assets/hardware/power_module/cuav_can/qgc_set_usavcan_sub_bat.png)

## 更多信息

[CAN PMU Manual](http://manual.cuav.net/power-module/CAN-PMU.pdf)

[CAN PMU Power detection module > Enable CAN PMU > PX4 firmware](https://doc.cuav.net/power-module/can-pmu/en/) (CUAV docs)