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. :::
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.
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
Firmware Setup
The power module runs pomegranate systems' own custom (open source) firmware. Source code and build instructions can be found on the bitbucket.
Flight Controller Setup
Enable DroneCAN by setting the UAVCAN_ENABLE parameter to
2
(Sensors Automatic Config) or3
.Enable DroneCAN battery monitoring by setting UAVCAN_SUB_BAT to
1
or2
( depending on your battery).Set the following module parameters using the MAVLink console:
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:
See device configuration page for a full list of parameters.
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