# Analog Power Module Setup

## **PX4 QGroundControl Setup**

*  Connect the Power Module to a battery and connect the flight controller to your ground station via USB.
* Open QGroundControl go *Vehicle* *Setup* and *Power* tab and Input the Number of Cells.
* Ensure the Voltage Divider & Amps per Volt is correct.

{% hint style="info" %}
All Holybro Analog Power Modules except *PM08* use the following:

* [Voltage Divider](https://docs.px4.io/main/en/config/battery.html#voltage-divider): 18.182
* [Amperes per Volt](https://docs.px4.io/main/en/config/battery.html#amps-per-volt): 36.364 \
  (**Note:** *PM08 uses* [Amperes per Volt](https://docs.px4.io/main/en/config/battery.html#amps-per-volt): *72*)
  {% endhint %}

 For more information, refer to the [PX4 Guide.](https://docs.px4.io/main/en/config/battery.html)

## **Ardupilot Mission Planner Setup**

1. Connect the Power Module to the battery and connect the flight controller to your ground station via USB.
2. Open Mission Planner, go to the *Setup* page and *Battery Monitor* tab, and select the following:
   * **Monitor** – `Analog Voltage and Current`
   * **Sensor** – `9: Holybro Power Module` (Shown as `Holybro Pixhawk 4 PM` in some older Mission Planner versions). 
     * If using **PM08**, select `0: Others` and go to the parameter list and set [BATT\_AMP\_PERVLT](https://ardupilot.org/copter/docs/parameters.html#batt-amp-pervlt) = 72
   * The "**HW VER**" depends on the flight controller you use. Refer to instructions below.

{% hint style="info" %}
**Note:** By selecting **Sensor** to `9: Holybro Power Module` above, you essentially are setting the the following parameter:

* [BATT\_VOLT\_MULT](https://ardupilot.org/copter/docs/parameters.html#batt-volt-mult) = `18.182`
* [BATT\_AMP\_PERVLT](https://ardupilot.org/copter/docs/parameters.html#batt-amp-pervlt) = `36.364`

This value is the same for all Holybro Power Modules except **PM08.** \
PM08 uses [BATT\_AMP\_PERVLT](https://ardupilot.org/copter/docs/parameters.html#batt-amp-pervlt) = `72`
{% endhint %}

### Pixhawk 5X or 6X

{% hint style="danger" %}
If you are using **Pixhawk 5X or 6X** :

* You must use a digital power module like the that end with a “D” such as the **PM02D**, etc. 
  {% endhint %}

You do not need to use "Battery Monitor" tab to set up the digital power module for the Pixhawk 5X or 6X. The parameters needed for their operation are already set by default:

* [BATT\_MONITOR](https://ardupilot.org/plane/docs/parameters.html#batt-monitor) = 21
* [BATT\_I2C\_BUS](https://ardupilot.org/plane/docs/parameters.html#batt-i2c-bus) = 1
* [BATT\_I2C\_ADDR](https://ardupilot.org/plane/docs/parameters.html#batt-i2c-addr) = 65

### Pixhawk 6C/6C Mini

{% hint style="warning" %}
There is a bug on **Mission Planner 1.3.80** where the ***`HW Ver -10: Pixhawk 6C/Pix32 v6`*** does not register in Battery Monitor Tab. \
\
If you are using this version, you must change parameter **`BATT_VOLT_PIN`** & **`BATT_CURR_PIN`** manually (shown below) instead of using the ***HW VER*** dropdown menu. [This issue has been fixed](https://github.com/ArduPilot/MissionPlanner/commit/5e995a2d81ee8d7d99ffa805aec7681b1a38393f) in the next release.
{% endhint %}

Configure the battery monitor to Analog Voltage and Current by setting parameters below:

* [BATT\_MONITOR](https://ardupilot.org/copter/docs/parameters.html#batt-monitor) = 4

If using ***power1*** port, go to "Config" tab and input the following in the parameter list:

* BATT\_VOLT\_PIN: 8
* BATT\_CURR\_PIN: 4

If using ***power2*** port input the following:

* BATT2\_VOLT\_PIN: 5
* BATT2\_CURR\_PIN: 14

Click **Write Params.**

### **Pixhawk 4, Pixhawk 4 Mini, Pix32v5**

If using ***power1*** port input the following:

* HW Ver – “0: CUAV V5/Pixhawk 4 or API “

Alternatively, input the following in the parameter list:

* BATT\_VOLT\_PIN: 0
* BATT\_CURR\_PIN: 1

If using ***power2*** port input the following:

* BATT2\_VOLT\_PIN: 2
* BATT2\_CURR\_PIN: 3

Click **Write Params.**

### Durandal

If using ***power1*** port input the following:

* HW Ver – “9: Durandal/ZealotH743”

Alternatively, input the following in the parameter list

* BATT\_VOLT\_PIN: 16
* BATT\_CURR\_PIN: 17

If using ***power2*** port input the following:

* BATT2\_VOLT\_PIN: 14
* BATT2\_CURR\_PIN: 15

Click **Write Params.**

For more Info regarding how to Configure Ardupilot & Mission Planner, please refer to [Ardupilot Wiki.](https://ardupilot.org/copter/docs/common-power-module-configuration-in-mission-planner.html)


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