CAN Termination Resistor Software Toggle

CAN Termination Resistance Software Toggle | Holybro Docs

Parameter Setup

Ardupilot

Connect the Power Module CAN connector to the Flight Controller's CAN1 Port
Change the following parameters:
CAN_P1_DRIVER=1
CAN_SLCAN_CPORT=1
BATT_MONITOR=8
BATT_OPTIONS=1
Unplug the Power and Restart the Flight Controller
Optional: Right-click on MissionPlanner -> User Items -> Check battery temp to display the temperature on the interface.

PX4

The CAN Power module is supported in version 1.14.0 and newer.
Connect the Power Module CAN connector to Flight Controller's CAN1 Port
Change the following parameters:
UAVCAN_ENABLE = 2锛圖efault for most FW

UAVCAN_SUB_BAT = 2 (filter)
BAT1_SOURCE = External
Unplug Power and Restart Flight Controller
You should now see the voltage and current consumed

Calibration

According to the factory default settings, the PM current and voltage detection accuracy is about 5%, which can be improved by fine-tuning the PM parameters.
Connect the PM to the CAN1 port of the Ardupilot firmware flight controller
Go to MissionPlanner->SETUP->Optional Hardware->DroneCAN/UAVCAN page, click MAVlink-CAN1, Parameters

Adjust the parameters in the following interface
BAT_AMP_PERVLT parameter
BAT_VOLT_MULT parameter

If the Voltage/current displayed on MissionPlanner is greater than the value displayed on the regulated power supply, adjust the value down. Otherwise, adjust it up
Click Write Params
Click Commit Params
Return to the MissionPlanner DATA page to see if the voltage and current are accurate. If not, repeat above

CAN MCU Firmware Upgrade

In Mission Planner – DroneCAN/UAVCAN page, select the ID f405_HolybroPMU, click menu, select Update, and update the firmware online.

Please update Mission Planner to the version indicated below(1.3.74) or higher.
After clicking 鈥淯pdate, it will ask whether to search for an update from the Internet. Click 鈥淵es (Automatically searches for upgrades to the latest stable version firmware).
If you have downloaded the firmware on your local computer, click 鈥淣o (Update local firmware).

If you have downloaded the firmware on your local computer, click 鈥淣o and select the firmware file from your local drive.

Check the firmware version after the has beenupgrade. After the upgrade, check whether the version is successfully upgraded.

If 鈥淣o update available appears when searching updates. Please turn off your firewall in the system settings and try again.