Power Sense Module



Introduction

The Power Sense Module provides analog current and voltage sensing to the Pixhawk autopilot mounted either on your BlueROV2 or custom marine robotics project. The ArduSub firmware for the Pixhawk supports the Power Sense Module and through QGroundControl will give visual indications of battery level and current consumption. Unlike standard power modules for the Pixhawk, the Power Sense Module will NOT provide power, only sensing abilities.

Specifications

Specification Table

Electrical  
Max Voltage Input 25.2V (6S)
Max Current Sensing 150A (non-continuous)
Output Connector Non-Insulated Spades (S5-3.5SNB)
Input Connector XT60 Connector
Physical (Board Dimensions)    
Length 16 mm 0.63 in
Width 19 mm 0.75 in
Height (without header pins) 7 mm 0.28 in
Power Pin Out    
Pin Signal Volt
1 (red) VCC +0V
2 (blk) VCC +0V
3 (blk) CURRENT +3.3V
4 (blk) VOLTAGE +3.3V
5 (blk) GND GND
6 (blk) GND GND

2D Drawings

Power Sense Module Board

3D Model

All 3D models are provided in zip archives containing the follow file types:

  • SolidWorks Part (.sldprt)
  • IGES (.igs)
  • STEP (.step)
  • STL (.stl)
Power Sense Module  
Power Sense Module Board PSM-ASM-PSM-R1.zip

Installation

General

  1. Connect the wires with the attached spades to a power distribution board.
  2. Connect the XT60 to a battery or power supply.
  3. Connect the 6-position JST-GH to DF13 cable (GH plug side) into the the JST-GH socket on the Power Sense Module.
  4. Connect the 6-position JST-GH to DF13 cable (DF13 plug side) into the DF13 POWER socket on the Pixhawk.

On the BlueROV2

Step 1: Remove old Power Module

Disconnect the old Power Module spade connections (Positive and Negative) on the BlueROV2 terminal blocks. Disconnect the yellow XT60 connector. Depending on when you purchased your ROV, you may have a secondary XT60 connection that can also be disconnected. Disconnect the DF13 cable plug from the POWER port on the Pixhawk.

Step 2: Connect the power spades

Connect the positive and negative power wire spades into their respective terminal blocks.

Step 3: Connect the XT60

Connect the yellow XT60 from the Power Sense Board to the XT60 power input coming from the endcap.

Step 3: Connect the JST-GH to DF13 cable

Connect the 6-position JST-GH to DF13 cable (GH plug side) into the the JST-GH socket on the Power Sense Module. Connect the JST-GH to DF13 cable (DF13 plug side) into the DF13 POWER socket on the Pixhawk.

ArduSub Software Setup

In the Parameters tab of the QGroundControl Vehicle Setup page, select “BATT” and enter the following values:

BATT_AMP_OFFSET 0.330 Amp Offset
BATT_AMP_PERVOLT 56.81818 Amps per volt
BATT_VOLT_MULT 11.000 Voltage Multiplier

If you have not already done so, ensure the following values are set:

BATT_CAPACITY 18000 Battery capacity
BATT_CURR_PIN Pixhawk Battery Current sensing pin
BATT_MONITOR Analog Voltage and Current Battery monitoring
BATT_VOLT_PIN Pixhawk Battery Voltage sensing pin