硬件链接
使用配套的CAN电源线，连接OnePMU的【Power】接口至飞控的【Power1/2】接口，如图所示：
产品灯语
PWR：电源灯常亮红色
CAN通信：绿色灯，快闪表示未和飞控通信，一秒闪一次表示通信正常
SYS：三色灯，显示电池大概电量状态
绿灯亮：电池单节电芯电压 大于4.0V
黄灯亮：电池单节电芯电压低于4.0V高于3.7V
红灯亮：电池单节电芯电压低于3.5v
ArduPilot固件使用方法
默认参数下，地面站可直接显示出电池电压，若是没显示出电压则在地面站的 配置/调试>>全部参数表 搜索以下参数，修改参数，写入参数后重启飞控。
BATT_MONITOR 设置为 8
CAN_P1_DRIVER 设置为 1
CAN_P2_DRIVER 设置为 1
电池参数配置
电流计默认参数适合监测6S标压lipro电池，其他节数的电池需要修改参数，操作如下：
-
- 地面站显示出电池电压后，在初始设置>>可选硬件>>DroneCAN/UAVCAN界面，点击MAVLINK-CAN1，将显示出UAVCAN通信设备列表。
- 在列表里找到Name为org.ZeroOne.PMU，点击[menu]，再点击paramters,将显示出电流计的参数列表，可更改的参数如下：
- BAT_CELL_NUM 电池节数，默认6节电芯
- BAT_FULL_VOLTAGE 单节电芯满电电压，4200表示4.2V
- BAT_LOW_VOLTAGE 单节电芯最低电压
- CAN_NODE_ID CAN通信节点ID,默认0表示飞控给电流计自动分配id，用户可手动分配id范围在1~255.
- 修改参数点击写入参数，即完成配置。
PX4固件使用方法
接通电池，飞控连接QGroundControl地面站，进入Vehicle setup里的parameters界面里搜索并配置以下参数。
UAVCAN_ENABLE 设置成Sensors automatic config，一般默认不需要修改。
UAVCAN_SUB_BAT设置成enable或者RAW data
BAT1_SOURCE设置成disable
参数修改完成后重启飞控，地面站即可显示出电池电压、电量百分比、电流计温度数据。
电池参数配置
若显示的电压百分比不对，一般是电池节数不匹配，默认是6S电池，需要修改合适的电池节数、单节电芯电压。找到电池UAVCAN通信节点，设置参数，重启飞控即可。
固件升级
在【可选硬件】-【DroneCAN/UAVCAN界面】- 点击【MAVLink-CAN1】,显示出来org.ZeroOne.pmu后，点【menu】选择update，弹出提示框点击No，选择下载好的本地固件，等待固件升级完成即可。
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