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65 lines
2.9 KiB
Markdown
65 lines
2.9 KiB
Markdown
# Pomegranate Systems Power Module
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::: info
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In 2022, UAVCAN (v0) was forked and is maintained as `DroneCAN`.
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While this product still mentions "UAVCAN", it is fully compatible with PX4's DroneCAN support.
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:::
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Digital Power Module with high resolution current integration, 5V/2A supply with power monitoring, single DroneCAN CANbus interface, and an RGB status LED.
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Detailed setup, configuration, and troubleshooting information can be found on the [manufacturer's device home page](https://p-systems.io/product/power_module).
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## Hardware Specifications
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- **Input Voltage:** 6-26V \(2-6S\)
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- **Max Continuous Current:**
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- **Benchtop:** 40A
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- **Forced Cooling:** 100A
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- **Max 5V Output Current:** 2A
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- **Voltage Resolution:** 0.04 ΔV
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- **Current Resolution:**
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- **Primary / Battery Bus:** 0.02 ΔA
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- **5V bus:** 0.001 ΔA
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- **CANbus Termination:** Electronic (on by default)
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- **MCU:** STM32F302K8U
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- **Electrical Interface:**
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- **Power:** Solder pads or XT60PW (right angle, board-mounted connectors)
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- **CANbus** Dual JST GH-4 (standard UAVCAN micro-connector)
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- **I2C / Serial:** JST GH-5
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- **5V Output:** Solder pads or CANbus / I2C connectors
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- **Device Mass:**
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- **Without Connectors:** 9g
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- **With XT60PW Connectors:** 16g
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## Firmware Setup
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The power module runs pomegranate systems' own custom (open source) firmware.
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Source code and build instructions can be found on [the bitbucket](https://bitbucket.org/p-systems/firmware/src/master).
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## Flight Controller Setup
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1. Enable DroneCAN by setting the [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) parameter to `2` (Sensors Automatic Config) or `3`.
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1. Enable DroneCAN battery monitoring by setting [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) to `1` or `2` ( depending on your battery).
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1. Set the following module parameters using the [MAVLink console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html):
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- Battery capacity in mAh: `battery_capacity_mAh`
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- Battery voltage when _full_: `battery_full_V`,
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- Battery voltage when _empty_: `battery_empty_V`
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- Turn on current integration: `enable_current_track`
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- (optional) Turn Off CANbus termination resistor :`enable_can_term`
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**Example:** A Power Module with UAVCAN node id `125` connected to a `3S` LiPo with capacity of `5000mAh` can be configured with the following commands:
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```sh
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uavcan param set 125 battery_capacity_mAh 5000
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uavcan param set 125 battery_full_V 12.5
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uavcan param set 125 battery_empty_V 11.2
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uavcan param set 125 enable_current_track 1
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uavcan param save 125
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```
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See [device configuration page](https://p-systems.io/product/power_module/configuration) for a full list of parameters.
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