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CUAV CAN PDB Manual

CUAV CAN PDB Carrier Board - CUAV CAN PDB Manual
CUAV CAN PDB Manual

Table of Contents

CAN PDB Feature

CAN PDB is an autopilot carrier board developed by CUAV. It integrates the power distribution board, Dronecan intelligent power management system, and autopilot carrier board.
The ultra-thick copper and tin PCB can provide up to 110A of continuous operating current for any device. The self-developed TTI algorithm achieves 0.1A current and 0.05V voltage measurement accuracy comparable to precision instruments.

canpdb - CUAV CAN PDB Manual

1.Configurable servo voltage output (5V/7.4V/8.2V), which can power servos with common specifications for unmanned systems.
2.Supports 5V PWM (when K1 is turned on) to improve the anti-interference ability of the control signal.
3.Supports 14~62V voltage input.

  1. Accurately measure voltage and current, current accuracy is 0.1A within 110A, and voltage accuracy is 0.05V.
    5.Droncan intelligent power management system intelligently monitors battery power, voltage and current.
    6.Ultra-thick copper and thickened tin-plated PCB can effectively reduce the heat caused by the internal resistance of the circuit under high current.
    7.10 channels of main power output with low voltage drop. 8.Run the TTI algorithm to improve the accuracy of power supply detection under various temperatures.
Data sheet
MCUSTM32F4
Operating Voltage14-62V(4-15S Lipo)
Detection current range0-110A
Output power(MAX)6000W(continued 120s)
Stable output power(MAX)5500W
CoreV5+/X7/X7 Pro/X7+/X7+ Pro
Frame typePlaner/VTOL/Copter/
helicopter/Rover/sub/
Autopilot firmwareArduPilot 4.0.0 and above firmware
Px41.11.0 and above firmware
Operating temperature-20~+100℃
Size12.8cm (length) × 10cm (width) × 1.2cm (height)
(The height after installing X7+/X7+PRO is 4.5cm
The height after installing V5+ is 3.9cm)
Weight200g (including cable)
Wire length30cm
Interface
V_OUT5V(default)/7.4V/8.2V(4A)
Servo VCC5V(default)/7.4V/8.2V(8A)
12V OUT4A(max)
USB1
UART15(gps/uart4/telem1/telem2/debug)
CAN2
I2C3
SBUS/DSM IN1
PPM IN1
Servo14
ADC3.31
ADC6.61
SBUS outs1(This interface is invalid when using X7+/X7+pro core)
RSSI3.3V(Analog input)
DSU71

Size

size - CUAV CAN PDB Manual

LED status light

  • Flashing green: Each battery voltage is 4.0~4.3V
  • Flashing yellow: The voltage of each battery is lower than 4.0V but higher than 3.7V
  • Flashing red: the voltage of each battery is lower than 3.5v

Note: Determine the number of battery cells based on the initial voltage. When you power on, the voltage of each LiPo cell is lower than 3.7V, which may misjudge the number of battery cells.

Pinouts

pinout - CUAV CAN PDB Manual

 Tip: The pin definition diagram is consistent with the actual interface location.

VOUT and Servo VCC

If you need CAN PDB to power equipment such as fixed-wing servos, please solder JP1, which will connect the VOUT circuit to obtain 5V/7.4V/8.2V power supply.

servo out - CUAV CAN PDB Manual

 Note:JP1/JP3/JP4 are disconnected by default. At this time, Servo_vcc (black box in the picture) is an independent circuit and the voltage is 0V. When JP1 is welded, Servo_vcc is connected to the VOUT circuit, and the voltage is 5V; when JP3 is welded, the VOUT circuit voltage becomes 7.4V; when JP3 and JP4 are welded, the VOUT circuit voltage becomes 8.2V.

5V PWM

k1 en - CUAV CAN PDB Manual

 Tip:If ESC supports 5V PWM, turn on the K1 switch, and the autopilot M1-M8 will output a 5V PWM signal, which can effectively improve the anti-interference ability.

CAN PDB Configuration Guide(ArduPilot)

This chapter is applicable to using CAN PDB with ArduPilot flight stack (flight control running ArduPilot 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 MissionPlanner ground station, set the following parameters in FULL parameter List, and restart the autopilot after writing:

apm1 - CUAV CAN PDB Manual

				
					CAN_P1_DRIVER set to 1
CAN_P2_DRIVER set to 1
BATT_MONITOR set to 8
				
			

View power information

power info - CUAV CAN PDB Manual

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 Mission planner ground station, open the Configuration > Optional Hardware > Dronecan/UAVCAN setting interface; click “mavlink-can1” (if connected to CAN1); find the CAN PMU information bar.

power set mp - CUAV CAN PDB Manual

Find the parameter settings that need to be modified, save them, and then restart.

power set mp2 - CUAV CAN PDB Manual

High voltage battery settings

Take a 6S battery pack with a battery cell full charge of 4.35v and an empty voltage of 3.3v as an example.

Set the following parameters in the CAN PDB parameter table:

				
					CELL_SERIES_NUM=6
CELL_FULL_VOLTAGE=4350
CELL_EMPTY_VOLTAGE=3300
				
			

Click “write params (write parameters)” and restart.

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:

qgc set en - CUAV CAN PDB Manual

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

View power information

power qgc info - CUAV CAN PDB Manual

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

power set qgc - CUAV CAN PDB Manual

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.

CAN PDB version update

2.9C

  • Adjust the Core shading screen printing position
  • Add support for 5V PWM, add K1 switch, when the status is on, M1-M8 output 5V PWM
  • Servo voltage setting modified to JP3 and JP4

2.8

  • Adjusted the position of the servo voltage switching pins (JP1/JP2/JP3)

2.6C

  • Modify the board size to 1010.8cm, the original size is 1012cm
  • Change the BEC chip solution to improve BEC load capacity.
  • Added support for servo power supply, and the Servo out output voltage can be adjusted through JP1/JP2/JP3.

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