CUAV Core X7 and NORA experience

[smartdave (Dave Glover)]

I have to ask… How hard are you pushing on the switch?

[gnitzan (Gal Nitzan)]

Well, figured it and here is a small blog entry I created for the solution in the hope it will help someone.
Gal

[Vlad_Mantoiu]

Could you please share your Battery monitor parameters?
Is using CUAV HV PMU okay? Or are the settings different?

Thanks

[mlebret]

@Vlad_Mantoiu

Could you please share your Battery monitor parameters?
Is using CUAV HV PMU okay?

Here are my Nora Battery settings

Nora have a CAN PMU. The is a note about CUAV HV PM here https://discuss.ardupilot.org/t/pmu-for-v5-x7-nora/60599

[xfacta (Shawn)]

CUAV HV PM voltage and current settings we use with a v5 Nano are:
BATT_AMP_PERVLT,26.1686
BATT_VOLT_MULT,17.72216
These are derived from testing and calibration.

[Teni (Terje Nilsen)]

Any one tried using the CAN PMU on Nora running PX4 and not Ardupilot???
I also used QGC, but I get all kinds of issues when I enable the CAM PMU.

[Yonatan_Ridelman]

I did but failed as well. It seems to me that the Nora px4 firmware does not support it.
I left a question for the experts in px4 Slack forum and in the meantime flying with the normal pmu mode

[maciek252 (Maciej Szreter)]

Hi,

maybe not the best place to ask, but I can’t find anything better. So the question is: what is the type of the connector for the power sockets in Nora? I’ve got the UAVCAN power module in the set, but I would want to attach another “classical” one to the another socket. And despite many attempts I can’t figure out what’s type of the connector it is?

The plug looks like this:

It is 10 mm between the 1th and the 6th pins, so the pitch is around 1.66 mm.

[mlebret]

@maciek252

It is 10 mm between the 1th and the 6th pins, so the pitch is around 1.66 mm.

6 pins, 5 spaces, pitch 2mm.

Look like Dupont connector (missing the locking part).

[TunaLobster (Charlie)]

Mini-PV/Dupont/Molex SL connectors originally created by Berg are 2.54mm or 0.1in pitch. There are 2.0mm pitch connectors such as Molex Milligrid. However I believe the connector in question is a JST-SH or a Molex CLICK-Mate. The CLICK-mate has a pitch of 1.5 and the SH has a pitch of 1.0 so I lean slightly towards the CLICK-Mate being the connector on the PCB. The other end of the cable that would plug into the autopilot is most likely a locking Milligrid, but I am not certain. @cuav Could you provide connector types on all of you diagrams please? It would really help when needing to make custom wiring harnesses.

[maciek252 (Maciej Szreter)]

Many thanks for your answers, but I haven’t been able to identify an exact plug type. Is this something of that kind?

https://pl.farnell.com/en-PL/molex/151098-0010/connector-housing-plug-10pos/dp/2630239

(of course here is 10pos and discontinued, but I could even cut it to fix)

[Desuetude]

You can order the cable from CUAV’s AliExpress store (Power cable connector), which is what I did. It takes a while, though. I haven’t received it yet but a month later supposedly it is in my country.

[maciek252 (Maciej Szreter)]

I did so, but this cable is provided only for the CAN version (which is way more expensive and also I would prefer to have one analog Power module just in case when something goes wrong with CAN)). The analog version is shipped with a standard “old” Pixhawk power connection plug, at least this was my case.

[mlebret]

@maciek252

Many thanks for your answers, but I haven’t been able to identify an exact plug type. Is this something of that kind?

https://pl.farnell.com/en-PL/molex/151098-0010/connector-housing-plug-10pos/dp/2630239

(of course here is 10pos and discontinued, but I could even cut it to fix)

It is the good one. You can have it with 6 connectors.

https://www.molex.com/molex/products/part-detail/crimp_housings/1511000006

[Borlang93 (Borja Ordiz Lastra)]

@mlebret

Hi! I’m working with X7 pro but I’m not able to monitor the battery.
Do you know if I can adapt some of these values to my set up ? (10000mAh 12S battery and X7 pro, in addition Im using the PMU SE of CUAV connected to Power C port) .
I cannot find proper documentation about how to parametrize those values. Thanks

[ton999 (Tony Atma)]

Hi @mlebret , @xfacta ,
I have problem about the Battery remaining Indicator (In percent) that shows very fast current consumption which is NOT consistent with “battery consumed” indicator on the same display. Any idea how to solve this problem? I have tried to increase the total battery capacity parameter, but problem still exist. Anybody could help how to solve this problem? Thank you.

I have created new thread about this Battery Indicator Problem here:

Cuav nora battery remaining indicator (using can pm) is wrong, but current is correct, how to solve?

I have built two same quad copters with same configuration using CUAV NORA, and 6S battery. Both have same problem: Wrong battery remaining indicator. Nora supplied CAN Power module in the package (lite version), so I followed all the instruction, that this CAN PM should be installed on the C power port of NORA. Battery monitoring parameter is set to 8 , so Battery Voltage and Current are correctly displayed as expected without any adjustment/calibration. Both Quad copters fly well, however so…

[xfacta (Shawn)]

Use the initial parameters calculator to set the correct battery voltage-related parameters for a start.

[maciek252 (Maciej Szreter)]

Hello,

two questions about the CUAV Nora:

• what are the pins for BATT2? Is BATT2_VOLT_PIN=4 correct? What is the setting for the current?

• it has been announced in one of the threads that Nora will finally get the UART3 (the one on the side) enabled. I’m looking at the release notes and can’t see that this has happened. Any news?

[cuav_le]

• BATT_V0LT_PIN=16
• BATT_CURR_PIN=17
  nora supports only one analog power supply. UART3(Serial7) is already supported, please enable it in all parameters.

[maciek252 (Maciej Szreter)]

Thanks for your answer. I can confirm that the battery2 pins are working fine. Will check the UART3. Please update the docs:

https://ardupilot.org/copter/docs/common-cuav-nora-overview.html

including adding the detailed description of differences between Nora and Nora+, in particular if DSHOT telemetry is expected to work for the former one and for which outputs.