Cannot use regular power module and CANPMU to measure voltage and current in the same time

[saengphet]

Describe the bug
Power module (PM02 or PM07 from holybro) was connected to pixhawk 4 "Power 1" and CUAV-CANPMU connected to CAN port. In Qgroundcontrol, There is no battery percentage available. However, the voltage is shown correctly. The vehicle could not be ARMED due to "the circuit brake power supply check". I managed the test as follows:

1. Connect the battery to PM02 and CANPMU at the same time

   Result: Battery voltage is correct, no battery percentage, cannot arm the vehicle

2. Connect the battery to PM02 first, then to CANPMU and vice versa

   Result: Battery voltage is correct, no battery percentage, cannot arm the vehicle

3. Connect the battery to PM02, CANPMU is DISABLE

   Result: Battery voltage is correct, battery percentage is correct, can arm the vehicle

4. Disconnect PM02 from Power 1 of pixhawk 4, CANPMU is ENABLE and connect to the battery.

   Result: Battery voltage is correct, no battery percentage (remaining = 0), cannot arm the vehicle

According to the test result, PM02 that connects to Power 1 (or power 2) of pixhawk 4 could not be used with CANPMU in the same time. Are these problems relate to battey_status topic or uORB multi-instance? I need to use these two sensors to improve redundancy of the vehicle.

EDITED
Using only CANPMU the result is no battery percentage (remaining = 0), so that vehicle cannot be armed. I guess the problem comes from cannode which no information about min. and max. battery voltage defined by user, then system cannot estimate remaining battery (in battery.cpp)

Expected behavior
Pixhawk is able to read voltage and current from regular power module (such as PM02, PM07 Holybro) and CANPMU-CUAV in the same time.
Edited >> using CANPMU and be able to arm the vehicle.

Drone (please complete the following information):

• Airframe: Tiltrotor
• Firmware Version: v1.11.0-beta2
• FCU: Pixhawk 4
• Power module: PM02 and CUAV-CANPMU

[saengphet]

solved by changing battery remaining ofCANPMU to 1 ( in sensors/battery.cpp), then the system will choose the lowest one to make decisions about arm or disarm. It is temporarily fixed.