{"data":{"id":"339309","string_id":"ptzlXET0","status":"1","parent_id":"235180","slug":"ptzlXET0","order":"0","name":"OnePMU\u7535\u6e90\u6a21\u5757","type":"1","cover":"","cover_alt":"","desc":null,"website":"","contact":"","seo_title":"","seo_keyword":"","seo_desc":"","author":"","published_time":"0","add_time":"1740559694","update_time":"1740559793","corp_auth_id":"0","verify_code_auth_id":"0","editor_type":"1","tags":[],"parent_name":"OnePMU\u7cfb\u5217","parent_type":"1","parent_slug":"fwlT9YlB","child":[{"id":"247882","string_id":"BXViVmwU","status":"1","parent_id":"339309","slug":"pmu_intro","order":"4","name":"OnePMU\u6982\u8ff0","type":"2","cover":"","cover_alt":"","desc":null,"website":"","contact":"","seo_title":"","seo_keyword":"","seo_desc":"","share_switch":"0","share_code":"","author":"","published_time":"1734348533","add_time":"1734059850","update_time":"1790222046","corp_auth_id":"0","verify_code_auth_id":"0","editor_type":"3","file_type":"","auth_id":"[\"247882\", \"339309\", \"235180\"]","content":{"content_id":"247882","content":"

\u4ea7\u54c1\u7279\u70b9<\/h2>\n
\n
\u91c7\u7528DroneCAN\u901a\u4fe1\u534f\u8bae\uff0c\u901a\u4fe1\u6297\u5e72\u6270\u80fd\u529b\u5f3a<\/li>\n
\u6700\u5927\u652f\u630110-61V\u7535\u538b\u8f93\u5165\uff0cXT90\u63a5\u5934\uff0c\u6301\u7eed90A\u7535\u6d41\u68c0\u6d4b<\/li>\n
\u7535\u538b\u7cbe\u5ea6±0.1%V\uff0c\u7535\u6d41\u7cbe\u5ea6±0.2%A<\/li>\n
\u591a\u91cd\u6ee4\u6ce2\u8bbe\u8ba1\uff0c\u7535\u6e90\u6ce2\u7eb9\u5c0f<\/li>\n
\u914d\u5907\u94dd\u5408\u91d1\u5916\u58f3\u548c\u9ad8\u6548\u6563\u70ed\u8bbe\u8ba1\uff0c\u957f\u65f6\u7a33\u5b9a\u5de5\u4f5c<\/li>\n<\/ol>\n
\u63a5\u53e3\u5b9a\u4e49<\/h2>\n
$\"\"$ <\/p>\n
<\/p>\n
OnePMU\u7535\u6d41\u8ba1\u89c4\u683c\u53c2\u6570<\/h2>\n<\/colgroup>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
\u9879\u76ee<\/strong><\/td>\n \u53c2\u6570<\/strong><\/td>\n<\/tr>\n
\u5904\u7406\u5668\u3000<\/td>\n STM32L431\u300080MHz 256KB Flash 64KB RAM<\/td>\n<\/tr>\n
\u7535\u538b\u8f93\u5165<\/td>\n 9.3V-61V\uff083-14S LIPO\uff09<\/td>\n<\/tr>\n
\u6301\u7eed\u7535\u6d41<\/td>\n 90A<\/td>\n<\/tr>\n
\u7a81\u53d1\u77ac\u65f6\u7535\u6d41<\/td>\n 120A<\/td>\n<\/tr>\n
\u7535\u538b\u68c0\u6d4b\u7cbe\u5ea6<\/td>\n ±0.1%V<\/td>\n<\/tr>\n
\u7535\u6d41\u68c0\u6d4b\u7cbe\u5ea6<\/td>\n ±0.2%A<\/td>\n<\/tr>\n
\u6e29\u5ea6\u7cbe\u5ea6<\/td>\n ±2\u2103<\/td>\n<\/tr>\n
\u98de\u63a7\u4f9b\u7535\u8f93\u51fa<\/td>\n 5.38V\/5A MAX<\/td>\n<\/tr>\n
\u901a\u4fe1\u534f\u8bae<\/td>\n DroneCAN<\/td>\n<\/tr>\n
\u63a5\u5934\u578b\u53f7<\/td>\n XT90<\/td>\n<\/tr>\n
5V\u8f93\u51fa\u63a5\u53e3<\/td>\n 5055650601<\/td>\n<\/tr>\n
\u56fa\u4ef6\u5347\u7ea7<\/td>\n \u652f\u6301<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
<\/p>\n
OnePMU\u5c3a\u5bf8\u56fe<\/h2>\n
<\/p>","pure_content":"\u4ea7\u54c1\u7279\u70b9\n\n\u91c7\u7528DroneCAN\u901a\u4fe1\u534f\u8bae\uff0c\u901a\u4fe1\u6297\u5e72\u6270\u80fd\u529b\u5f3a\n\u6700\u5927\u652f\u630110-61V\u7535\u538b\u8f93\u5165\uff0cXT90\u63a5\u5934\uff0c\u6301\u7eed90A\u7535\u6d41\u68c0\u6d4b\n\u7535\u538b\u7cbe\u5ea6\u00b10.1%V\uff0c\u7535\u6d41\u7cbe\u5ea6\u00b10.2%A\n\u591a\u91cd\u6ee4\u6ce2\u8bbe\u8ba1\uff0c\u7535\u6e90\u6ce2\u7eb9\u5c0f\n\u914d\u5907\u94dd\u5408\u91d1\u5916\u58f3\u548c\u9ad8\u6548\u6563\u70ed\u8bbe\u8ba1\uff0c\u957f\u65f6\u7a33\u5b9a\u5de5\u4f5c\n\n\u63a5\u53e3\u5b9a\u4e49\n\n\u00a0\nOnePMU\u7535\u6d41\u8ba1\u89c4\u683c\u53c2\u6570\n\n\n\n \u9879\u76ee\n \u53c2\u6570\n\n\n \u5904\u7406\u5668\u3000\n STM32L431\u300080MHz 256KB Flash 64KB RAM\n\n\n \u7535\u538b\u8f93\u5165\n 9.3V-61V\uff083-14S LIPO\uff09\n\n\n \u6301\u7eed\u7535\u6d41\n 90A\n\n\n \u7a81\u53d1\u77ac\u65f6\u7535\u6d41\n 120A\n\n\n \u7535\u538b\u68c0\u6d4b\u7cbe\u5ea6\n \u00b10.1%V\n\n\n \u7535\u6d41\u68c0\u6d4b\u7cbe\u5ea6\n \u00b10.2%A\n\n\n \u6e29\u5ea6\u7cbe\u5ea6\n \u00b12\u2103\n\n\n \u98de\u63a7\u4f9b\u7535\u8f93\u51fa\n 5.38V\/5A MAX\n\n\n \u901a\u4fe1\u534f\u8bae\n DroneCAN\n\n\n \u63a5\u5934\u578b\u53f7\n XT90\n\n\n 5V\u8f93\u51fa\u63a5\u53e3\n 5055650601\n\n\n \u56fa\u4ef6\u5347\u7ea7\n \u652f\u6301\n\n\n\n\u00a0\nOnePMU\u5c3a\u5bf8\u56fe","is_draft":"0","editor_type":"3","file_path":"","add_time":"1734059850","update_time":"1790222045"},"pure_content":"\u4ea7\u54c1\u7279\u70b9\n\n\u91c7\u7528DroneCAN\u901a\u4fe1\u534f\u8bae\uff0c\u901a\u4fe1\u6297\u5e72\u6270\u80fd\u529b\u5f3a\n\u6700\u5927\u652f\u630110-61V\u7535\u538b\u8f93\u5165\uff0cXT90\u63a5\u5934\uff0c\u6301\u7eed90A\u7535\u6d41\u68c0\u6d4b\n\u7535\u538b\u7cbe\u5ea6\u00b10.1%V\uff0c\u7535\u6d41\u7cbe\u5ea6\u00b10.2%A\n\u591a\u91cd\u6ee4\u6ce2\u8bbe\u8ba1\uff0c\u7535\u6e90\u6ce2\u7eb9\u5c0f\n\u914d\u5907\u94dd\u5408\u91d1\u5916\u58f3\u548c\u9ad8\u6548\u6563\u70ed\u8bbe\u8ba1\uff0c\u957f\u65f6\u7a33\u5b9a\u5de5\u4f5c\n\n\u63a5\u53e3\u5b9a\u4e49\n\n\u00a0\nOnePMU\u7535\u6d41\u8ba1\u89c4\u683c\u53c2\u6570\n\n\n\n \u9879\u76ee\n \u53c2\u6570\n\n\n \u5904\u7406\u5668\u3000\n STM32L431\u300080MHz 256KB Flash 64KB RAM"},{"id":"235182","string_id":"NubVxOFb","status":"1","parent_id":"339309","slug":"pmu_manual","order":"2","name":"OnePMU\u4f7f\u7528\u6587\u6863","type":"2","cover":"","cover_alt":"","desc":null,"website":"","contact":"","seo_title":"","seo_keyword":"","seo_desc":"","share_switch":"0","share_code":"","author":"","published_time":"1734008328","add_time":"1733214860","update_time":"1773673201","corp_auth_id":"0","verify_code_auth_id":"0","editor_type":"3","file_type":"","auth_id":"[\"235182\", \"339309\", \"235180\"]","content":{"content_id":"235182","content":"
\u786c\u4ef6\u94fe\u63a5<\/h2>\n
\u4f7f\u7528\u914d\u5957\u7684CAN\u7535\u6e90\u7ebf\uff0c\u8fde\u63a5OnePMU\u7684\u3010Power\u3011\u63a5\u53e3\u81f3\u98de\u63a7\u7684\u3010Power1\/2\u3011\u63a5\u53e3\uff0c\u5982\u56fe\u6240\u793a\uff1a $\"\"$ <\/p>\n
\u4ea7\u54c1\u706f\u8bed<\/span><\/h2>\n
\n
\n
\n
\n
\n
\n
\n
PWR\uff1a\u7535\u6e90\u706f\u5e38\u4eae\u7ea2\u8272<\/p>\n
CAN\u901a\u4fe1\uff1a\u7eff\u8272\u706f\uff0c\u5feb\u95ea\u8868\u793a\u672a\u548c\u98de\u63a7\u901a\u4fe1\uff0c\u4e00\u79d2\u95ea\u4e00\u6b21\u8868\u793a\u901a\u4fe1\u6b63\u5e38<\/p>\n
SYS\uff1a\u4e09\u8272\u706f\uff0c\u663e\u793a\u7535\u6c60\u5927\u6982\u7535\u91cf\u72b6\u6001<\/p>\n
\u7eff\u706f\u4eae\uff1a\u7535\u6c60\u5355\u8282\u7535\u82af\u7535\u538b \u5927\u4e8e4.0V<\/p>\n
\u9ec4\u706f\u4eae\uff1a\u7535\u6c60\u5355\u8282\u7535\u82af\u7535\u538b\u4f4e\u4e8e4.0V\u9ad8\u4e8e3.7V<\/p>\n
\u7ea2\u706f\u4eae\uff1a\u7535\u6c60\u5355\u8282\u7535\u82af\u7535\u538b\u4f4e\u4e8e3.5v<\/p>\n
<\/p>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n
ArduPilot\u56fa\u4ef6\u4f7f\u7528\u65b9\u6cd5<\/span><\/h2>\n
\n
\u9ed8\u8ba4\u53c2\u6570\u4e0b\uff0c\u5730\u9762\u7ad9\u53ef\u76f4\u63a5\u663e\u793a\u51fa\u7535\u6c60\u7535\u538b\uff0c\u82e5\u662f\u6ca1\u663e\u793a\u51fa\u7535\u538b\u5219\u5728\u5730\u9762\u7ad9\u7684 \u914d\u7f6e\/\u8c03\u8bd5>>\u5168\u90e8\u53c2\u6570\u8868 \u641c\u7d22\u4ee5\u4e0b\u53c2\u6570\uff0c\u4fee\u6539\u53c2\u6570\uff0c\u5199\u5165\u53c2\u6570\u540e\u91cd\u542f\u98de\u63a7\u3002<\/p>\n
BATT_MONITOR \u8bbe\u7f6e\u4e3a 8<\/p>\n
CAN_P1_DRIVER \u8bbe\u7f6e\u4e3a 1<\/p>\n
CAN_P2_DRIVER \u8bbe\u7f6e\u4e3a 1<\/p>\n<\/div>\n
\u7535\u6c60\u53c2\u6570\u914d\u7f6e<\/span><\/h3>\n
\n
\u7535\u6d41\u8ba1\u9ed8\u8ba4\u53c2\u6570\u9002\u5408\u76d1\u6d4b6S\u6807\u538blipro\u7535\u6c60\uff0c\u5176\u4ed6\u8282\u6570\u7684\u7535\u6c60\u9700\u8981\u4fee\u6539\u53c2\u6570\uff0c\u64cd\u4f5c\u5982\u4e0b\uff1a<\/p>\n
\n
\n
\n
\u5730\u9762\u7ad9\u663e\u793a\u51fa\u7535\u6c60\u7535\u538b\u540e\uff0c\u5728\u521d\u59cb\u8bbe\u7f6e>>\u53ef\u9009\u786c\u4ef6>>DroneCAN\/UAVCAN\u754c\u9762\uff0c\u70b9\u51fbMAVLINK-CAN1\uff0c\u5c06\u663e\u793a\u51faUAVCAN\u901a\u4fe1\u8bbe\u5907\u5217\u8868\u3002<\/li>\n
\u5728\u5217\u8868\u91cc\u627e\u5230Name\u4e3aorg.ZeroOne.PMU\uff0c\u70b9\u51fb[menu]\uff0c\u518d\u70b9\u51fbparamters,\u5c06\u663e\u793a\u51fa\u7535\u6d41\u8ba1\u7684\u53c2\u6570\u5217\u8868\uff0c\u53ef\u66f4\u6539\u7684\u53c2\u6570\u5982\u4e0b\uff1a\n
\n
BAT_CELL_NUM \u7535\u6c60\u8282\u6570\uff0c\u9ed8\u8ba46\u8282\u7535\u82af<\/li>\n
BAT_FULL_VOLTAGE \u5355\u8282\u7535\u82af\u6ee1\u7535\u7535\u538b\uff0c4200\u8868\u793a4.2V<\/li>\n
BAT_LOW_VOLTAGE \u5355\u8282\u7535\u82af\u6700\u4f4e\u7535\u538b<\/li>\n
CAN_NODE_ID CAN\u901a\u4fe1\u8282\u70b9ID,\u9ed8\u8ba40\u8868\u793a\u98de\u63a7\u7ed9\u7535\u6d41\u8ba1\u81ea\u52a8\u5206\u914did\uff0c\u7528\u6237\u53ef\u624b\u52a8\u5206\u914did\u8303\u56f4\u57281~255.<\/li>\n<\/ul>\n<\/li>\n
\u4fee\u6539\u53c2\u6570\u70b9\u51fb\u5199\u5165\u53c2\u6570\uff0c\u5373\u5b8c\u6210\u914d\u7f6e\u3002 $\"\"$ $\"\"$ <\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
<\/p>\n
PX4\u56fa\u4ef6\u4f7f\u7528\u65b9\u6cd5<\/h2>\n
\n
\u7535\u6d41\u8ba1\u8fde\u63a5\u98de\u63a7\uff0c\u63a5\u4e0a\u7535\u6c60\u4f9b\u7535\uff0c\u8fde\u63a5QGroundControl\u5730\u9762\u7ad9\uff0c\u8fdb\u5165Vehicle setup\u91cc\u7684parameters\u754c\u9762\u91cc\u641c\u7d22\u5e76\u914d\u7f6e\u4ee5\u4e0b\u53c2\u6570\u3002<\/p>\n
UAVCAN_ENABLE \u8bbe\u7f6e\u6210Sensors automatic config\uff0c\u4e00\u822c\u9ed8\u8ba4\u4e0d\u9700\u8981\u4fee\u6539\u3002<\/p>\n
UAVCAN_SUB_BAT\u8bbe\u7f6e\u6210enable\u6216\u8005RAW data<\/p>\n
BAT1_SOURCE\u8bbe\u7f6e\u6210disable<\/p>\n
\u53c2\u6570\u4fee\u6539\u5b8c\u6210\u540e\u91cd\u542f\u98de\u63a7\uff0c\u5730\u9762\u7ad9\u5373\u53ef\u663e\u793a\u51fa\u7535\u6c60\u7535\u538b\u3001\u7535\u91cf\u767e\u5206\u6bd4\u3001\u7535\u6d41\u8ba1\u6e29\u5ea6\u6570\u636e\u3002<\/p>\n
$\"\"$ <\/p>\n
\n
\u7535\u6d41\u8ba1\u7684\u53c2\u6570\u9ed8\u8ba4\u662fLIPO 6S\u7535\u6c60\uff0c\u82e5\u662f\u5176\u4ed6\u8282\u6570\u6216\u89c4\u683c\u7684\u7535\u6c60\u8bf7\u6d4f\u89c8\u4e0b\u65b9\u3010\u7535\u6c60\u53c2\u6570\u914d\u7f6e\u3011\u6559\u7a0b\u3002<\/p>\n<\/blockquote>\n
\u7535\u6c60\u53c2\u6570\u914d\u7f6e<\/h3>\n
\u82e5\u663e\u793a\u7684\u7535\u538b\u767e\u5206\u6bd4\u4e0d\u5bf9\uff0c\u4e00\u822c\u662f\u7535\u6c60\u8282\u6570\u4e0d\u5339\u914d\uff0c\u9ed8\u8ba4\u662f6S\u7535\u6c60\uff0c\u9700\u8981\u4fee\u6539\u5408\u9002\u7684\u7535\u6c60\u8282\u6570\u3001\u5355\u8282\u7535\u82af\u7535\u538b\u3002\u627e\u5230\u7535\u6c60UAVCAN\u901a\u4fe1\u8282\u70b9\uff0c\u8bbe\u7f6e\u53c2\u6570\uff0c\u91cd\u542f \u98de\u63a7\u5373\u53ef\u3002<\/p>\n
<\/p>\n
\u56fa\u4ef6\u5347\u7ea7<\/h2>\n
\n
\u5728\u3010\u53ef\u9009\u786c\u4ef6\u3011-\u3010DroneCAN\/UAVCAN\u754c\u9762\u3011- \u70b9\u51fb\u3010MAVLink-CAN1\u3011,\u663e\u793a\u51fa\u6765org.ZeroOne.pmu\u540e\uff0c\u70b9\u3010menu\u3011\u9009\u62e9update\uff0c\u5f39\u51fa\u63d0\u793a\u6846\u70b9\u51fbNo\uff0c\u9009\u62e9\u4e0b\u8f7d\u597d\u7684\u672c\u5730\u56fa\u4ef6\uff0c\u7b49\u5f85\u56fa\u4ef6\u5347\u7ea7\u5b8c\u6210\u5373\u53ef\u3002<\/p>\n
$\"\"$ <\/p>\n<\/div>\n<\/div>\n<\/div>","pure_content":"\u786c\u4ef6\u94fe\u63a5\n\u4f7f\u7528\u914d\u5957\u7684CAN\u7535\u6e90\u7ebf\uff0c\u8fde\u63a5OnePMU\u7684\u3010Power\u3011\u63a5\u53e3\u81f3\u98de\u63a7\u7684\u3010Power1\/2\u3011\u63a5\u53e3\uff0c\u5982\u56fe\u6240\u793a\uff1a\n\u4ea7\u54c1\u706f\u8bed\n\n\n\n\n\n\n\nPWR\uff1a\u7535\u6e90\u706f\u5e38\u4eae\u7ea2\u8272\nCAN\u901a\u4fe1\uff1a\u7eff\u8272\u706f\uff0c\u5feb\u95ea\u8868\u793a\u672a\u548c\u98de\u63a7\u901a\u4fe1\uff0c\u4e00\u79d2\u95ea\u4e00\u6b21\u8868\u793a\u901a\u4fe1\u6b63\u5e38\nSYS\uff1a\u4e09\u8272\u706f\uff0c\u663e\u793a\u7535\u6c60\u5927\u6982\u7535\u91cf\u72b6\u6001\n\u7eff\u706f\u4eae\uff1a\u7535\u6c60\u5355\u8282\u7535\u82af\u7535\u538b \u5927\u4e8e4.0V\n\u9ec4\u706f\u4eae\uff1a\u7535\u6c60\u5355\u8282\u7535\u82af\u7535\u538b\u4f4e\u4e8e4.0V\u9ad8\u4e8e3.7V\n\u7ea2\u706f\u4eae\uff1a\u7535\u6c60\u5355\u8282\u7535\u82af\u7535\u538b\u4f4e\u4e8e3.5v\n\u00a0\n\n\n\n\n\n\n\nArduPilot\u56fa\u4ef6\u4f7f\u7528\u65b9\u6cd5\n\n\u9ed8\u8ba4\u53c2\u6570\u4e0b\uff0c\u5730\u9762\u7ad9\u53ef\u76f4\u63a5\u663e\u793a\u51fa\u7535\u6c60\u7535\u538b\uff0c\u82e5\u662f\u6ca1\u663e\u793a\u51fa\u7535\u538b\u5219\u5728\u5730\u9762\u7ad9\u7684 \u914d\u7f6e\/\u8c03\u8bd5>>\u5168\u90e8\u53c2\u6570\u8868 \u641c\u7d22\u4ee5\u4e0b\u53c2\u6570\uff0c\u4fee\u6539\u53c2\u6570\uff0c\u5199\u5165\u53c2\u6570\u540e\u91cd\u542f\u98de\u63a7\u3002\nBATT_MONITOR \u8bbe\u7f6e\u4e3a 8\nCAN_P1_DRIVER \u8bbe\u7f6e\u4e3a 1\nCAN_P2_DRIVER \u8bbe\u7f6e\u4e3a 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\u9879\u76ee<\/strong><\/td>\n	\u53c2\u6570<\/strong><\/td>\n<\/tr>\n
\u5904\u7406\u5668\u3000<\/td>\n	STM32L431\u300080MHz 256KB Flash 64KB RAM<\/td>\n<\/tr>\n
\u7535\u538b\u8f93\u5165<\/td>\n	9.3V-61V\uff083-14S LIPO\uff09<\/td>\n<\/tr>\n
\u6301\u7eed\u7535\u6d41<\/td>\n	90A<\/td>\n<\/tr>\n
\u7a81\u53d1\u77ac\u65f6\u7535\u6d41<\/td>\n	120A<\/td>\n<\/tr>\n
\u7535\u538b\u68c0\u6d4b\u7cbe\u5ea6<\/td>\n	±0.1%V<\/td>\n<\/tr>\n
\u7535\u6d41\u68c0\u6d4b\u7cbe\u5ea6<\/td>\n	±0.2%A<\/td>\n<\/tr>\n
\u6e29\u5ea6\u7cbe\u5ea6<\/td>\n	±2\u2103<\/td>\n<\/tr>\n
\u98de\u63a7\u4f9b\u7535\u8f93\u51fa<\/td>\n	5.38V\/5A MAX<\/td>\n<\/tr>\n
\u901a\u4fe1\u534f\u8bae<\/td>\n	DroneCAN<\/td>\n<\/tr>\n
\u63a5\u5934\u578b\u53f7<\/td>\n	XT90<\/td>\n<\/tr>\n
5V\u8f93\u51fa\u63a5\u53e3<\/td>\n	5055650601<\/td>\n<\/tr>\n
\u56fa\u4ef6\u5347\u7ea7<\/td>\n	\u652f\u6301<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n <\/p>\n OnePMU\u5c3a\u5bf8\u56fe<\/h2>\n <\/p>","pure_content":"\u4ea7\u54c1\u7279\u70b9\n\n\u91c7\u7528DroneCAN\u901a\u4fe1\u534f\u8bae\uff0c\u901a\u4fe1\u6297\u5e72\u6270\u80fd\u529b\u5f3a\n\u6700\u5927\u652f\u630110-61V\u7535\u538b\u8f93\u5165\uff0cXT90\u63a5\u5934\uff0c\u6301\u7eed90A\u7535\u6d41\u68c0\u6d4b\n\u7535\u538b\u7cbe\u5ea6\u00b10.1%V\uff0c\u7535\u6d41\u7cbe\u5ea6\u00b10.2%A\n\u591a\u91cd\u6ee4\u6ce2\u8bbe\u8ba1\uff0c\u7535\u6e90\u6ce2\u7eb9\u5c0f\n\u914d\u5907\u94dd\u5408\u91d1\u5916\u58f3\u548c\u9ad8\u6548\u6563\u70ed\u8bbe\u8ba1\uff0c\u957f\u65f6\u7a33\u5b9a\u5de5\u4f5c\n\n\u63a5\u53e3\u5b9a\u4e49\n\n\u00a0\nOnePMU\u7535\u6d41\u8ba1\u89c4\u683c\u53c2\u6570\n\n\n\n \u9879\u76ee\n \u53c2\u6570\n\n\n \u5904\u7406\u5668\u3000\n STM32L431\u300080MHz 256KB Flash 64KB RAM\n\n\n \u7535\u538b\u8f93\u5165\n 9.3V-61V\uff083-14S LIPO\uff09\n\n\n \u6301\u7eed\u7535\u6d41\n 90A\n\n\n \u7a81\u53d1\u77ac\u65f6\u7535\u6d41\n 120A\n\n\n \u7535\u538b\u68c0\u6d4b\u7cbe\u5ea6\n \u00b10.1%V\n\n\n \u7535\u6d41\u68c0\u6d4b\u7cbe\u5ea6\n \u00b10.2%A\n\n\n \u6e29\u5ea6\u7cbe\u5ea6\n \u00b12\u2103\n\n\n \u98de\u63a7\u4f9b\u7535\u8f93\u51fa\n 5.38V\/5A MAX\n\n\n \u901a\u4fe1\u534f\u8bae\n DroneCAN\n\n\n \u63a5\u5934\u578b\u53f7\n XT90\n\n\n 5V\u8f93\u51fa\u63a5\u53e3\n 5055650601\n\n\n \u56fa\u4ef6\u5347\u7ea7\n \u652f\u6301\n\n\n\n\u00a0\nOnePMU\u5c3a\u5bf8\u56fe","is_draft":"0","editor_type":"3","file_path":"","add_time":"1734059850","update_time":"1790222045"},"pure_content":"\u4ea7\u54c1\u7279\u70b9\n\n\u91c7\u7528DroneCAN\u901a\u4fe1\u534f\u8bae\uff0c\u901a\u4fe1\u6297\u5e72\u6270\u80fd\u529b\u5f3a\n\u6700\u5927\u652f\u630110-61V\u7535\u538b\u8f93\u5165\uff0cXT90\u63a5\u5934\uff0c\u6301\u7eed90A\u7535\u6d41\u68c0\u6d4b\n\u7535\u538b\u7cbe\u5ea6\u00b10.1%V\uff0c\u7535\u6d41\u7cbe\u5ea6\u00b10.2%A\n\u591a\u91cd\u6ee4\u6ce2\u8bbe\u8ba1\uff0c\u7535\u6e90\u6ce2\u7eb9\u5c0f\n\u914d\u5907\u94dd\u5408\u91d1\u5916\u58f3\u548c\u9ad8\u6548\u6563\u70ed\u8bbe\u8ba1\uff0c\u957f\u65f6\u7a33\u5b9a\u5de5\u4f5c\n\n\u63a5\u53e3\u5b9a\u4e49\n\n\u00a0\nOnePMU\u7535\u6d41\u8ba1\u89c4\u683c\u53c2\u6570\n\n\n\n \u9879\u76ee\n \u53c2\u6570\n\n\n \u5904\u7406\u5668\u3000\n STM32L431\u300080MHz 256KB Flash 64KB RAM"},{"id":"235182","string_id":"NubVxOFb","status":"1","parent_id":"339309","slug":"pmu_manual","order":"2","name":"OnePMU\u4f7f\u7528\u6587\u6863","type":"2","cover":"","cover_alt":"","desc":null,"website":"","contact":"","seo_title":"","seo_keyword":"","seo_desc":"","share_switch":"0","share_code":"","author":"","published_time":"1734008328","add_time":"1733214860","update_time":"1773673201","corp_auth_id":"0","verify_code_auth_id":"0","editor_type":"3","file_type":"","auth_id":"[\"235182\", \"339309\", \"235180\"]","content":{"content_id":"235182","content":" \u786c\u4ef6\u94fe\u63a5<\/h2>\n \u4f7f\u7528\u914d\u5957\u7684CAN\u7535\u6e90\u7ebf\uff0c\u8fde\u63a5OnePMU\u7684\u3010Power\u3011\u63a5\u53e3\u81f3\u98de\u63a7\u7684\u3010Power1\/2\u3011\u63a5\u53e3\uff0c\u5982\u56fe\u6240\u793a\uff1a $\"\"$ <\/p>\n \u4ea7\u54c1\u706f\u8bed<\/span><\/h2>\n \n \n \n \n \n \n \n PWR\uff1a\u7535\u6e90\u706f\u5e38\u4eae\u7ea2\u8272<\/p>\n CAN\u901a\u4fe1\uff1a\u7eff\u8272\u706f\uff0c\u5feb\u95ea\u8868\u793a\u672a\u548c\u98de\u63a7\u901a\u4fe1\uff0c\u4e00\u79d2\u95ea\u4e00\u6b21\u8868\u793a\u901a\u4fe1\u6b63\u5e38<\/p>\n SYS\uff1a\u4e09\u8272\u706f\uff0c\u663e\u793a\u7535\u6c60\u5927\u6982\u7535\u91cf\u72b6\u6001<\/p>\n \u7eff\u706f\u4eae\uff1a\u7535\u6c60\u5355\u8282\u7535\u82af\u7535\u538b \u5927\u4e8e4.0V<\/p>\n \u9ec4\u706f\u4eae\uff1a\u7535\u6c60\u5355\u8282\u7535\u82af\u7535\u538b\u4f4e\u4e8e4.0V\u9ad8\u4e8e3.7V<\/p>\n \u7ea2\u706f\u4eae\uff1a\u7535\u6c60\u5355\u8282\u7535\u82af\u7535\u538b\u4f4e\u4e8e3.5v<\/p>\n <\/p>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n ArduPilot\u56fa\u4ef6\u4f7f\u7528\u65b9\u6cd5<\/span><\/h2>\n \n \u9ed8\u8ba4\u53c2\u6570\u4e0b\uff0c\u5730\u9762\u7ad9\u53ef\u76f4\u63a5\u663e\u793a\u51fa\u7535\u6c60\u7535\u538b\uff0c\u82e5\u662f\u6ca1\u663e\u793a\u51fa\u7535\u538b\u5219\u5728\u5730\u9762\u7ad9\u7684 \u914d\u7f6e\/\u8c03\u8bd5>>\u5168\u90e8\u53c2\u6570\u8868 \u641c\u7d22\u4ee5\u4e0b\u53c2\u6570\uff0c\u4fee\u6539\u53c2\u6570\uff0c\u5199\u5165\u53c2\u6570\u540e\u91cd\u542f\u98de\u63a7\u3002<\/p>\n BATT_MONITOR \u8bbe\u7f6e\u4e3a 8<\/p>\n CAN_P1_DRIVER \u8bbe\u7f6e\u4e3a 1<\/p>\n CAN_P2_DRIVER \u8bbe\u7f6e\u4e3a 1<\/p>\n<\/div>\n \u7535\u6c60\u53c2\u6570\u914d\u7f6e<\/span><\/h3>\n \n \u7535\u6d41\u8ba1\u9ed8\u8ba4\u53c2\u6570\u9002\u5408\u76d1\u6d4b6S\u6807\u538blipro\u7535\u6c60\uff0c\u5176\u4ed6\u8282\u6570\u7684\u7535\u6c60\u9700\u8981\u4fee\u6539\u53c2\u6570\uff0c\u64cd\u4f5c\u5982\u4e0b\uff1a<\/p>\n \n \n \n \u5730\u9762\u7ad9\u663e\u793a\u51fa\u7535\u6c60\u7535\u538b\u540e\uff0c\u5728\u521d\u59cb\u8bbe\u7f6e>>\u53ef\u9009\u786c\u4ef6>>DroneCAN\/UAVCAN\u754c\u9762\uff0c\u70b9\u51fbMAVLINK-CAN1\uff0c\u5c06\u663e\u793a\u51faUAVCAN\u901a\u4fe1\u8bbe\u5907\u5217\u8868\u3002<\/li>\n \u5728\u5217\u8868\u91cc\u627e\u5230Name\u4e3aorg.ZeroOne.PMU\uff0c\u70b9\u51fb[menu]\uff0c\u518d\u70b9\u51fbparamters,\u5c06\u663e\u793a\u51fa\u7535\u6d41\u8ba1\u7684\u53c2\u6570\u5217\u8868\uff0c\u53ef\u66f4\u6539\u7684\u53c2\u6570\u5982\u4e0b\uff1a\n \n BAT_CELL_NUM \u7535\u6c60\u8282\u6570\uff0c\u9ed8\u8ba46\u8282\u7535\u82af<\/li>\n BAT_FULL_VOLTAGE \u5355\u8282\u7535\u82af\u6ee1\u7535\u7535\u538b\uff0c4200\u8868\u793a4.2V<\/li>\n BAT_LOW_VOLTAGE \u5355\u8282\u7535\u82af\u6700\u4f4e\u7535\u538b<\/li>\n CAN_NODE_ID CAN\u901a\u4fe1\u8282\u70b9ID,\u9ed8\u8ba40\u8868\u793a\u98de\u63a7\u7ed9\u7535\u6d41\u8ba1\u81ea\u52a8\u5206\u914did\uff0c\u7528\u6237\u53ef\u624b\u52a8\u5206\u914did\u8303\u56f4\u57281~255.<\/li>\n<\/ul>\n<\/li>\n \u4fee\u6539\u53c2\u6570\u70b9\u51fb\u5199\u5165\u53c2\u6570\uff0c\u5373\u5b8c\u6210\u914d\u7f6e\u3002 $\"\"$ $\"\"$ <\/li>\n<\/ul>\n<\/li>\n<\/ul>\n <\/p>\n PX4\u56fa\u4ef6\u4f7f\u7528\u65b9\u6cd5<\/h2>\n \n \u7535\u6d41\u8ba1\u8fde\u63a5\u98de\u63a7\uff0c\u63a5\u4e0a\u7535\u6c60\u4f9b\u7535\uff0c\u8fde\u63a5QGroundControl\u5730\u9762\u7ad9\uff0c\u8fdb\u5165Vehicle setup\u91cc\u7684parameters\u754c\u9762\u91cc\u641c\u7d22\u5e76\u914d\u7f6e\u4ee5\u4e0b\u53c2\u6570\u3002<\/p>\n UAVCAN_ENABLE \u8bbe\u7f6e\u6210Sensors automatic config\uff0c\u4e00\u822c\u9ed8\u8ba4\u4e0d\u9700\u8981\u4fee\u6539\u3002<\/p>\n UAVCAN_SUB_BAT\u8bbe\u7f6e\u6210enable\u6216\u8005RAW data<\/p>\n BAT1_SOURCE\u8bbe\u7f6e\u6210disable<\/p>\n \u53c2\u6570\u4fee\u6539\u5b8c\u6210\u540e\u91cd\u542f\u98de\u63a7\uff0c\u5730\u9762\u7ad9\u5373\u53ef\u663e\u793a\u51fa\u7535\u6c60\u7535\u538b\u3001\u7535\u91cf\u767e\u5206\u6bd4\u3001\u7535\u6d41\u8ba1\u6e29\u5ea6\u6570\u636e\u3002<\/p>\n $\"\"$ <\/p>\n \n \u7535\u6d41\u8ba1\u7684\u53c2\u6570\u9ed8\u8ba4\u662fLIPO 6S\u7535\u6c60\uff0c\u82e5\u662f\u5176\u4ed6\u8282\u6570\u6216\u89c4\u683c\u7684\u7535\u6c60\u8bf7\u6d4f\u89c8\u4e0b\u65b9\u3010\u7535\u6c60\u53c2\u6570\u914d\u7f6e\u3011\u6559\u7a0b\u3002<\/p>\n<\/blockquote>\n \u7535\u6c60\u53c2\u6570\u914d\u7f6e<\/h3>\n \u82e5\u663e\u793a\u7684\u7535\u538b\u767e\u5206\u6bd4\u4e0d\u5bf9\uff0c\u4e00\u822c\u662f\u7535\u6c60\u8282\u6570\u4e0d\u5339\u914d\uff0c\u9ed8\u8ba4\u662f6S\u7535\u6c60\uff0c\u9700\u8981\u4fee\u6539\u5408\u9002\u7684\u7535\u6c60\u8282\u6570\u3001\u5355\u8282\u7535\u82af\u7535\u538b\u3002\u627e\u5230\u7535\u6c60UAVCAN\u901a\u4fe1\u8282\u70b9\uff0c\u8bbe\u7f6e\u53c2\u6570\uff0c\u91cd\u542f \u98de\u63a7\u5373\u53ef\u3002<\/p>\n <\/p>\n \u56fa\u4ef6\u5347\u7ea7<\/h2>\n \n \u5728\u3010\u53ef\u9009\u786c\u4ef6\u3011-\u3010DroneCAN\/UAVCAN\u754c\u9762\u3011- \u70b9\u51fb\u3010MAVLink-CAN1\u3011,\u663e\u793a\u51fa\u6765org.ZeroOne.pmu\u540e\uff0c\u70b9\u3010menu\u3011\u9009\u62e9update\uff0c\u5f39\u51fa\u63d0\u793a\u6846\u70b9\u51fbNo\uff0c\u9009\u62e9\u4e0b\u8f7d\u597d\u7684\u672c\u5730\u56fa\u4ef6\uff0c\u7b49\u5f85\u56fa\u4ef6\u5347\u7ea7\u5b8c\u6210\u5373\u53ef\u3002<\/p>\n $\"\"$ <\/p>\n<\/div>\n<\/div>\n<\/div>","pure_content":"\u786c\u4ef6\u94fe\u63a5\n\u4f7f\u7528\u914d\u5957\u7684CAN\u7535\u6e90\u7ebf\uff0c\u8fde\u63a5OnePMU\u7684\u3010Power\u3011\u63a5\u53e3\u81f3\u98de\u63a7\u7684\u3010Power1\/2\u3011\u63a5\u53e3\uff0c\u5982\u56fe\u6240\u793a\uff1a\n\u4ea7\u54c1\u706f\u8bed\n\n\n\n\n\n\n\nPWR\uff1a\u7535\u6e90\u706f\u5e38\u4eae\u7ea2\u8272\nCAN\u901a\u4fe1\uff1a\u7eff\u8272\u706f\uff0c\u5feb\u95ea\u8868\u793a\u672a\u548c\u98de\u63a7\u901a\u4fe1\uff0c\u4e00\u79d2\u95ea\u4e00\u6b21\u8868\u793a\u901a\u4fe1\u6b63\u5e38\nSYS\uff1a\u4e09\u8272\u706f\uff0c\u663e\u793a\u7535\u6c60\u5927\u6982\u7535\u91cf\u72b6\u6001\n\u7eff\u706f\u4eae\uff1a\u7535\u6c60\u5355\u8282\u7535\u82af\u7535\u538b \u5927\u4e8e4.0V\n\u9ec4\u706f\u4eae\uff1a\u7535\u6c60\u5355\u8282\u7535\u82af\u7535\u538b\u4f4e\u4e8e4.0V\u9ad8\u4e8e3.7V\n\u7ea2\u706f\u4eae\uff1a\u7535\u6c60\u5355\u8282\u7535\u82af\u7535\u538b\u4f4e\u4e8e3.5v\n\u00a0\n\n\n\n\n\n\n\nArduPilot\u56fa\u4ef6\u4f7f\u7528\u65b9\u6cd5\n\n\u9ed8\u8ba4\u53c2\u6570\u4e0b\uff0c\u5730\u9762\u7ad9\u53ef\u76f4\u63a5\u663e\u793a\u51fa\u7535\u6c60\u7535\u538b\uff0c\u82e5\u662f\u6ca1\u663e\u793a\u51fa\u7535\u538b\u5219\u5728\u5730\u9762\u7ad9\u7684 \u914d\u7f6e\/\u8c03\u8bd5>>\u5168\u90e8\u53c2\u6570\u8868 \u641c\u7d22\u4ee5\u4e0b\u53c2\u6570\uff0c\u4fee\u6539\u53c2\u6570\uff0c\u5199\u5165\u53c2\u6570\u540e\u91cd\u542f\u98de\u63a7\u3002\nBATT_MONITOR \u8bbe\u7f6e\u4e3a 8\nCAN_P1_DRIVER \u8bbe\u7f6e\u4e3a 1\nCAN_P2_DRIVER \u8bbe\u7f6e\u4e3a 1\n\n\u7535\u6c60\u53c2\u6570\u914d\u7f6e\n\n\u7535\u6d41\u8ba1\u9ed8\u8ba4\u53c2\u6570\u9002\u5408\u76d1\u6d4b6S\u6807\u538blipro\u7535\u6c60\uff0c\u5176\u4ed6\u8282\u6570\u7684\u7535\u6c60\u9700\u8981\u4fee\u6539\u53c2\u6570\uff0c\u64cd\u4f5c\u5982\u4e0b\uff1a\n\n\n\n\u5730\u9762\u7ad9\u663e\u793a\u51fa\u7535\u6c60\u7535\u538b\u540e\uff0c\u5728\u521d\u59cb\u8bbe\u7f6e>>\u53ef\u9009\u786c\u4ef6>>DroneCAN\/UAVCAN\u754c\u9762\uff0c\u70b9\u51fbMAVLINK-CAN1\uff0c\u5c06\u663e\u793a\u51faUAVCAN\u901a\u4fe1\u8bbe\u5907\u5217\u8868\u3002\n\u5728\u5217\u8868\u91cc\u627e\u5230Name\u4e3aorg.ZeroOne.PMU\uff0c\u70b9\u51fb[menu]\uff0c\u518d\u70b9\u51fbparamters,\u5c06\u663e\u793a\u51fa\u7535\u6d41\u8ba1\u7684\u53c2\u6570\u5217\u8868\uff0c\u53ef\u66f4\u6539\u7684\u53c2\u6570\u5982\u4e0b\uff1a\n\nBAT_CELL_NUM \u7535\u6c60\u8282\u6570\uff0c\u9ed8\u8ba46\u8282\u7535\u82af\nBAT_FULL_VOLTAGE \u5355\u8282\u7535\u82af\u6ee1\u7535\u7535\u538b\uff0c4200\u8868\u793a4.2V\nBAT_LOW_VOLTAGE \u5355\u8282\u7535\u82af\u6700\u4f4e\u7535\u538b\nCAN_NODE_ID CAN\u901a\u4fe1\u8282\u70b9ID,\u9ed8\u8ba40\u8868\u793a\u98de\u63a7\u7ed9\u7535\u6d41\u8ba1\u81ea\u52a8\u5206\u914did\uff0c\u7528\u6237\u53ef\u624b\u52a8\u5206\u914did\u8303\u56f4\u57281~255.\n\n\n\u4fee\u6539\u53c2\u6570\u70b9\u51fb\u5199\u5165\u53c2\u6570\uff0c\u5373\u5b8c\u6210\u914d\u7f6e\u3002\n\n\n\n\u00a0\nPX4\u56fa\u4ef6\u4f7f\u7528\u65b9\u6cd5\n\n\u7535\u6d41\u8ba1\u8fde\u63a5\u98de\u63a7\uff0c\u63a5\u4e0a\u7535\u6c60\u4f9b\u7535\uff0c\u8fde\u63a5QGroundControl\u5730\u9762\u7ad9\uff0c\u8fdb\u5165Vehicle setup\u91cc\u7684parameters\u754c\u9762\u91cc\u641c\u7d22\u5e76\u914d\u7f6e\u4ee5\u4e0b\u53c2\u6570\u3002\nUAVCAN_ENABLE \u8bbe\u7f6e\u6210Sensors automatic config\uff0c\u4e00\u822c\u9ed8\u8ba4\u4e0d\u9700\u8981\u4fee\u6539\u3002\nUAVCAN_SUB_BAT\u8bbe\u7f6e\u6210enable\u6216\u8005RAW data\nBAT1_SOURCE\u8bbe\u7f6e\u6210disable\n\u53c2\u6570\u4fee\u6539\u5b8c\u6210\u540e\u91cd\u542f\u98de\u63a7\uff0c\u5730\u9762\u7ad9\u5373\u53ef\u663e\u793a\u51fa\u7535\u6c60\u7535\u538b\u3001\u7535\u91cf\u767e\u5206\u6bd4\u3001\u7535\u6d41\u8ba1\u6e29\u5ea6\u6570\u636e\u3002\n\n\n\u7535\u6d41\u8ba1\u7684\u53c2\u6570\u9ed8\u8ba4\u662fLIPO 6S\u7535\u6c60\uff0c\u82e5\u662f\u5176\u4ed6\u8282\u6570\u6216\u89c4\u683c\u7684\u7535\u6c60\u8bf7\u6d4f\u89c8\u4e0b\u65b9\u3010\u7535\u6c60\u53c2\u6570\u914d\u7f6e\u3011\u6559\u7a0b\u3002\n\n\u7535\u6c60\u53c2\u6570\u914d\u7f6e\n\u82e5\u663e\u793a\u7684\u7535\u538b\u767e\u5206\u6bd4\u4e0d\u5bf9\uff0c\u4e00\u822c\u662f\u7535\u6c60\u8282\u6570\u4e0d\u5339\u914d\uff0c\u9ed8\u8ba4\u662f6S\u7535\u6c60\uff0c\u9700\u8981\u4fee\u6539\u5408\u9002\u7684\u7535\u6c60\u8282\u6570\u3001\u5355\u8282\u7535\u82af\u7535\u538b\u3002\u627e\u5230\u7535\u6c60UAVCAN\u901a\u4fe1\u8282\u70b9\uff0c\u8bbe\u7f6e\u53c2\u6570\uff0c\u91cd\u542f\u00a0 \u98de\u63a7\u5373\u53ef\u3002\n\n\u56fa\u4ef6\u5347\u7ea7\n\n\u5728\u3010\u53ef\u9009\u786c\u4ef6\u3011-\u3010DroneCAN\/UAVCAN\u754c\u9762\u3011- 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\u63a5\u53e3\u5b9a\u4e49<\/h2>\n<\/p>\n <\/p>\n

\u786c\u4ef6\u94fe\u63a5<\/h2>\n\u4f7f\u7528\u914d\u5957\u7684CAN\u7535\u6e90\u7ebf\uff0c\u8fde\u63a5OnePMU\u7684\u3010Power\u3011\u63a5\u53e3\u81f3\u98de\u63a7\u7684\u3010Power1\/2\u3011\u63a5\u53e3\uff0c\u5982\u56fe\u6240\u793a\uff1a<\/p>\n

\u63a5\u53e3\u5b9a\u4e49<\/h2>\n
$\"\"$ <\/p>\n
<\/p>\n

\u786c\u4ef6\u94fe\u63a5<\/h2>\n
\u4f7f\u7528\u914d\u5957\u7684CAN\u7535\u6e90\u7ebf\uff0c\u8fde\u63a5OnePMU\u7684\u3010Power\u3011\u63a5\u53e3\u81f3\u98de\u63a7\u7684\u3010Power1\/2\u3011\u63a5\u53e3\uff0c\u5982\u56fe\u6240\u793a\uff1a $\"\"$ <\/p>\n

OnePMU电源模块