CUAV CAN PMU User Manual

CUAV’s CAN/DroneCAN PMU is a drone power management module with built-in STM32F4 processor running CUAV’s ITT compensation algorithm to accurately measure the voltage and current of the drone’s battery. It supports 6~62V voltage input, and the POWER output port can output 5V/ 8A. It uses advanced CAN bus communication and supports the standard DroneCAN protocol. Each PMU is factory calibrated to ensure good consistency and high accuracy.

Specifications

Processor: STM32F412
Voltage Input: 6~62V (2S-15S)
Max Current: 110A
Voltage Accuracy: ±0.05V
Current Accuracy: ±0.1A
Resolution: 0.01A/V
Max Output Power: 6000W for 90s
Max Continuous Power: 5000W
Power Port Output: 5.4V/5A
Protocol: DroneCAN
Operating Temp: -20~+100℃
Supports firmware upgrade
No calibration required

Connector Types:

- 8mm female bullet power connectors (XT-90 battery and ESC cables provided)
- Autopilot Power: Molex 6 pin 1.5mm #5025850670 (CUAV V5 cable provided)
- CAN: 4 pin JST-GH (cable provided)

Physical Dimensions:

- Size:46.5mm * 38.5mm * 22.5mm
- Weight:76g

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Notes

Please read the product manual carefully.
Please check the connection carefully before connecting the battery
Please use at rated voltage, current and power
Please read the documentation center for configuration and use
Do not disassemble

Pinouts

Connecting to the System

Connect the autopilot’s DroneCAN port the module’s CAN interface.
Using a CUAV V5 series power cable, connect the module’s Power interface to one of the V5 Autopilot’s power interfaces.

Connect the flight control CAN1/2 and the module CAN interface.
Connect the X7 series power cable to the X7 Flight Control Power2 (if other flight controllers are connect to the Power interface) and the module Power interface.

ArduPilot firmware (flight controller firmware)

Set the following parameters in the Mission planner’s full parameter list and restart after writing:

CAN_P1_DRIVER to 1 if attached to CAN bus1 port or CAN_P2_DRIVER to 1 if attached to CAN bus2 port
BATT_MONITOR or to 8 enable a DroneCAN battery monitor on the appropriate battery monitor port.BATT_MONITORx

Note:Please use Copter 3.6/Plane 3.9/Rover 3.5 firmware versions or higher.

PX4 firmware (flight controller firmware)

Set the following parameters in the QGroundControl parameter list and then restart:

UAVCAN_ENABLE: set to: Sensors Automatic Config

Note: PX4 firmware supports UAVCAN power detection module in 1.10 or higher.

CUAV CAN PMU Firmware upgrade

CAN PMU can add new features or improve performance by upgrading firmware. The following describes how to upgrade CAN pmu firmware.

ArduPilot AC4.0/AP4.0 or above version of the flight control firmware, support UAVCAN device firmware upgrade and debugging through the flight control (PX4 firmware is not supported), the following tutorial requires that the flight control firmware must be the above firmware version.

Configuration parameter

Before upgrading the firmware you need to set the flight control parameters to Enable CAN PMU; then set the following parameters to enable CAN Slcan:

CAN_SLCAN_CPORT set to 1.
Serial7_protocol set to 22.
reboot flight control

AP/AC4.0 and above firmware, there will be two USB serial ports, one is the slcan port and the other is the MAVLINK port(if not, please reinstall your USB driver).

for Pixhack series/FMUv2/FMU V3/FMU V4 Flight control

CAN_SLCAN_CPORT set to 1
CAN_SLCAN_TIMEOUT set to 130000
CAN_SLCAN_SERNUMset to 0
usb will stop mavlink transmission and become Slcan port.

STM32F4XX does not support dual virtual USB ports, so FMU v5 and below (not included) flight control can only be used for SLCAN after MAVlink transmission is closed; mavlink output is restored after restarting the flight control.

connection

Connect CAN and Power cable
Use usb to connect the flight controller to the computer while using the battery to power the CAN PMU

Process

method one：Firmware upgrade using Mission planner Firmware download

Select the device port corresponding to slcan.
Click “slcan mode CAN1” on the UAVCAN interface.
Click “Update”, select NO in the pop-up prompt box (yes is to select online firmware; No select local firmware)
Select firmware file