# Pomegranate Systems Power Module

:::note In 2022, UAVCAN (v0) was forked and is maintained as `DroneCAN`. While this product still mentions "UAVCAN", it is fully compatible with PX4's DroneCAN support. :::

![Module Image](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-2e8365ada5f511f4947ef292bcba4ceefa9ebc3b%2Fmain_image.jpg?alt=media)

Digital Power Module with high resolution current integration, 5V/2A supply with power monitoring, single DroneCAN CANbus interface, and an RGB status LED.

Detailed setup, configuration, and troubleshooting information can be found on the [manufacturer's device home page](https://p-systems.io/product/power_module).

## Hardware Specifications

* **Input Voltage:** 6-26V (2-6S)
* **Max Continuous Current:**
  * **Benchtop:** 40A
  * **Forced Cooling:** 100A
* **Max 5V Output Current:** 2A
* **Voltage Resolution:** 0.04 ΔV
* **Current Resolution:**
  * **Primary / Battery Bus:** 0.02 ΔA
  * **5V bus:** 0.001 ΔA
* **CANbus Termination:** Electronic (on by default)
* **MCU:** STM32F302K8U
* **Electrical Interface:**
  * **Power:** Solder pads or XT60PW (right angle, board-mounted connectors)
  * **CANbus** Dual JST GH-4 (standard UAVCAN micro-connector)
  * **I2C / Serial:** JST GH-5
  * **5V Output:** Solder pads or CANbus / I2C connectors
* **Device Mass:**
  * **Without Connectors:** 9g
  * **With XT60PW Connectors:** 16g

![Dimensions](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-0359d5837ff4249fc1b6bd5a7a4df131ead86f05%2Fmechanical.png?alt=media)

## Firmware Setup

The power module runs pomegranate systems' own custom (open source) firmware. Source code and build instructions can be found on [the bitbucket](https://bitbucket.org/p-systems/firmware/src/master).

## Flight Controller Setup

1. Enable DroneCAN by setting the [UAVCAN\_ENABLE](https://px4.gitbook.io/px4-user-guide/advanced_config/parameter_reference#UAVCAN_ENABLE) parameter to `2` (Sensors Automatic Config) or `3`.
2. Enable DroneCAN battery monitoring by setting [UAVCAN\_SUB\_BAT](https://px4.gitbook.io/px4-user-guide/advanced_config/parameter_reference#UAVCAN_SUB_BAT) to `1` or `2` ( depending on your battery).
3. Set the following module parameters using the [MAVLink console](https://docs.qgroundcontrol.com/master/en/analyze_view/mavlink_console.html):
   * Battery capacity in mAh: `battery_capacity_mAh`
   * Battery voltage when *full*: `battery_full_V`,
   * Battery voltage when *empty*: `battery_empty_V`
   * Turn on current integration: `enable_current_track`
   * (optional) Turn Off CANbus termination resistor :`enable_can_term`

**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:

```
uavcan param set 125 battery_capacity_mAh 5000
uavcan param set 125 battery_full_V 12.5
uavcan param set 125 battery_empty_V 11.2
uavcan param set 125 enable_current_track 1
uavcan param save 125
```

See [device configuration page](https://p-systems.io/product/power_module/configuration) for a full list of parameters.