Power Sense Module (PSM) Installation
Introduction
The Power Sense Module provides current and voltage sensing abilities for your underwater project. The following guide will show how to install it for use on a Pixhawk.
General Installation
- Connect the wires with the attached spades to a power distribution board.
- Connect the XT60 to a battery or power supply.
- 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 6-position JST-GH to DF13 cable (DF13 plug side) into the DF13 POWER socket on the Pixhawk.
Installation on the BlueROV2
Parts and Tools
You will also need:
- 1 x #2 Phillips head screwdriver
Instructions
1. Disconnect the old Power Module spade connections (Positive and Negative) on the BlueROV2 terminal blocks.
2. Disconnect the yellow XT60 connector. Depending on when you purchased your ROV, you may have a secondary XT60 connection that can also be disconnected.
3. Disconnect the DF13 cable plug from the POWER port on the Pixhawk.
4. Connect the positive and negative power wire spades into their respective terminal blocks.
5. Connect the yellow XT60 from the Power Sense Board to the XT60 power input coming from the endcap.
6. 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
R2 PSM (24 mm long PCB)
In the Parameters tab of the QGroundControl Vehicle Setup page, select “BATT” and enter the following values:
| Parameter | Value | Description |
|---|---|---|
| BATT_AMP_OFFSET | 0.330 | Amp Offset |
| BATT_AMP_PERVOLT | 37.8788 | Amps per volt |
| BATT_VOLT_MULT | 11.000 | Voltage Multiplier |
R1 PSM (16 mm long PCB)
In the Parameters tab of the QGroundControl Vehicle Setup page, select “BATT” and enter the following values:
| Parameter | Value | Description |
|---|---|---|
| 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:
| Parameter | Value | Description |
|---|---|---|
| BATT_CAPACITY | 18000 | Battery capacity (in mAh) |
| BATT_CURR_PIN | Pixhawk | Battery Current sensing pin |
| BATT_MONITOR | Analog Voltage and Current | Battery monitoring |
| BATT_VOLT_PIN | Pixhawk | Battery Voltage sensing pin |