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To connect an analog power source, please follow the configuration steps below.

Accessories to be Prepared in Advance

• Godwit GA-1 Universal Controller (with Ardupilot or PX4 software installed)
• Analog Power Module (e.g. Holybro's PM02, PM06 v2 or Cupepilot's Power Brick Mini)
• Power (Type 2) Analog Cable (included in the accessory kit)
• Laptop (with Mission Planner or QGroundControle installed)
• USB Type-C Cable (for connecting the G-A1 to the laptop)

Connection

Please refer to the diagram below and connect the G-A1 to the analog power module. Ensure that the pin definitions of the analog module match those shown in the diagram.

Ardupilot - Mission Planner Configuration

• Open Mission Planner on your laptop.
• Connect the G-A1 to Mission Planner via a USB Type-C cable.
• After Mission Planner receives data, open Config > Full Parameter List.
• Set “BATT_MONITOR” to 4, then reboot the G-A1 for the change to take effect. (Use Ctrl+F to find Reboot Pixhawk, or replug the USB cable with the battery disconnected.)
• Set the values as following:
• BATT_VOLT_PIN: 12
• BATT_CURR_PIN: 13
• Configure the BATT_VOLT_MULT parameter according to your PMU specifications
• Configure the BATT_AMP_PERVLT parameter according to your PMU specifications
• Configure the BATT_CAPACITY parameter according to your battery capacity rating, if needed.

The parameters BATT_AMP_PERVLT and BATT_VOLT_MULT are configured based on the analog power module’s Voltage Divider and Amperes-per specifications, respectively. They can be identified by referring to the specifications of the power module in use. Examples are shown below:

Type	BATT_VOLT_MULT	BATT_AMP_RERVLT	Ref. Source
Holybro PM02/PM06	18.182	36.364	Holybro's Product Specification
CubePilot Power Brick Mini (Product Code: HX4-06008)	13.655	273.1	CubePilot's Product Test Data

• Check if BAT VOLTAGE is shown.

Tip:

To add Bat Voltage to the Quick page, you can:

• Go to Data > Quick page.
• Double-click any existing data title/item you want to replace.
• Check (enable) battery_voltage on the Display This page.

PX4 - QGroundControl Configuration

• Connect the G-A1 to your laptop via a USB Type-C cable.
• Open QGroundControl, and go to Vehicle Setup > Parameters page.
• Set the parameters as following:
• BAT1_SOURCE: Power Module
• BAT1_V_CHANNEL: 12
• BAT1_I_CHANNEL: 13
• BAT1_V_CHARGED: 4.2V (according to the maximum voltage of your battery)
• Configure the BAT1_V_DIV parameter according to your PMU specifications
• Configure the BAT1_A_PER_V parameter according to your PMU specifications
• Configure the BAT1_CAPACITY parameter according to your battery capacity rating, if needed.
• After configuring the parameters above, you need to reboot the G-A1.


Examples are shown below:

Type	BATT_VOLT_MULT	BATT_AMP_RERVLT	Ref. Source
Holybro PM02/PM06	18.182	36.364	Holybro's Product Specification
CubePilot Power Brick Mini (Product Code: HX4-06008)	27.427	533.375	CubePilot's Product Test Data

• Check if the battery icon is shown on the home page’s top bar.

To connect a digital power source, please follow the configuration steps below.

Accessories to be Prepared in Advance

• Godwit GA-1 Universal Controller (with Ardupilot or PX4 software installed)
• I2C Power Module (e.g. Holybro's PM02D 6S)
• Power (Type 1) I2C-1 Cable or Power (Type 3) I2C-2 Cable (depending on your module's pin pitch; included in the accessory kit)
• Laptop (with Mission Planner or QGroundControle installed)
• USB Type-C Cable (for connecting the G-A1 to the laptop)

Connection

Please refer to the diagram below and connect the G-A1 to the digital power module. Ensure that the pin definitions of the digital module match those shown in the diagram.

Ardupilot - Mission Planner Configuration

• Open Mission Planner on you laptop.
• Connect the G-A1 to Mission Planner via a USB Type-C cable.
• After Mission Planner receives data, open Config > Full Parameter List.
• Set BATT_MONITOR to 21 when using the Holybro's PM02D 6S or set the parameter according to your PMU specifications. Then reboot the G-A1 for the change to take effect. (Use Ctrl+F to find Reboot Pixhawk, or replug the USB cable with the battery disconnected.)
• Set the BATT_CAPACITY parameter according to your battery capacity rating, if needed.
• Check if BAT VOLTAGE is shown.

Tip:

To add Bat Voltage to the Quick page, you can:

• Go to Data > Quick page.
• Double-click any existing data title/item you want to replace.
• Check (enable) battery_voltage on the Display This page.

PX4 - QGroundControl Configuration

• Connect the G-A1 to your laptop via a USB Type-C cable.
• Open QGroundControl, and go to Vehicle Setup > Parameters page.
• Set the values as following:
• BAT1_SOURCE: Power Module
• SENS_EN_INA226: Enabled
• Configure other parameters in Power according to your battery capacity rating, if needed.

• After configuring the parameters above, you need to reboot the G-A1.
• Check if the battery icon is shown on the home page’s top bar.

To connect a digital power source, please follow the configuration steps below.

Accessories to be Prepared in Advance

• Godwit GA-1 Universal Controller (with Ardupilot or PX4 software installed)
• DroneCAN Power Module
• PowerC Cable (included in the accessory kit)
• Laptop (with Mission Planner or QGroundControle installed)
• USB Type-C Cable (for connecting the G-A1 to the laptop)

Connection

Please refer to the diagram below and connect the G-A1 to the digital power module. Ensure that the pin definitions of the digital module match those shown in the diagram.

Ardupilot - Mission Planner Configuration

• Open Mission Planner on you laptop.
• Connect the G-A1 to Mission Planner via a USB Type-C cable.
• After Mission Planner receives data, open Config > Full Parameter List.
• Set BATT_MONITOR to 8 or set the parameter according to your PMU specifications. Then reboot the G-A1 for the change to take effect. (Use Ctrl+F to find Reboot Pixhawk, or replug the USB cable with the battery disconnected.)
• Set the BATT_CAPACITY parameter according to your battery capacity rating, if needed.
• Check if BAT VOLTAGE is shown.

Tip:

To add Bat Voltage to the Quick page, you can:

• Go to Data > Quick page.
• Double-click any existing data title/item you want to replace.
• Check (enable) battery_voltage on the Display This page.

PX4 - QGroundControl Configuration

• Connect the G-A1 to your laptop via a USB Type-C cable.
• Open QGroundControl, and go to Vehicle Setup > Parameters page.
• Set the values as following:
• BAT1_SOURCE: Disabled
• UAVCAN_ENABLE: Sensors Automatic Configure or Sensors and Actuator (ESCs) Automatic Configure, if needed.
• UAVCAN_SUB_BAT: Raw data

• After configuring the parameters above, you need to reboot the G-A1.
• You can also configure UAVCAN_ENABLE on the Power page. First, enable Show UAVCAN Settings. After configuration, you may still need to go to the Parameter page and set UAVCAN_SUB_BAT to Raw data.

• Check if the battery icon is shown on the home page’s top bar.