From 99ff1b91df233c2e39564e582d7430e1da3e8309 Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Tue, 24 Mar 2026 12:29:34 -0300
Subject: [PATCH 1/2] frontend: fix InlineParameterEditor not displaying zero
 values

The truthiness check `if (this.param?.value)` treated 0 as falsy,
so `internal_new_value_as_string` was never set and the field showed
the placeholder label instead of "0". Use `this.param != null` to
check for parameter existence regardless of its value.

Made-with: Cursor
---
 .../src/components/parameter-editor/InlineParameterEditor.vue   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/core/frontend/src/components/parameter-editor/InlineParameterEditor.vue b/core/frontend/src/components/parameter-editor/InlineParameterEditor.vue
index 883ea1c096..2fea8b7b5d 100644
--- a/core/frontend/src/components/parameter-editor/InlineParameterEditor.vue
+++ b/core/frontend/src/components/parameter-editor/InlineParameterEditor.vue
@@ -322,7 +322,7 @@ export default Vue.extend({
           .map((value) => parseFloat(value))
           .includes(this.internal_new_value)
       }
-      if (this.param?.value) {
+      if (this.param != null) {
         this.internal_new_value_as_string = this.internal_new_value.toString()
       }
 

From 1f1d18ac17c36569bc55131d3714eccaa139607f Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Tue, 24 Mar 2026 12:29:40 -0300
Subject: [PATCH 2/2] frontend: add Power configuration tab to vehicle setup

Add a Power subtab under Vehicle Setup > Configure, modeled after
QGC's APMPowerComponent. Supports Battery 1/2 monitor selection,
power sensor presets (including Blue Robotics PSM), capacity, arming
voltage, and advanced calibration with voltage multiplier and amps
per volt calculation dialogs.

Made-with: Cursor
---
 .../src/components/vehiclesetup/Configure.vue |   3 +
 .../configuration/power/BatteryCard.vue       | 459 ++++++++++++++++++
 .../power/PowerConfiguration.vue              |  72 +++
 3 files changed, 534 insertions(+)
 create mode 100644 core/frontend/src/components/vehiclesetup/configuration/power/BatteryCard.vue
 create mode 100644 core/frontend/src/components/vehiclesetup/configuration/power/PowerConfiguration.vue

diff --git a/core/frontend/src/components/vehiclesetup/Configure.vue b/core/frontend/src/components/vehiclesetup/Configure.vue
index cce88ea16f..c75b76f982 100644
--- a/core/frontend/src/components/vehiclesetup/Configure.vue
+++ b/core/frontend/src/components/vehiclesetup/Configure.vue
@@ -46,6 +46,7 @@ import Camera from './configuration/camera.vue'
 import ArdupilotMavlinkCompassSetup from './configuration/compass/ArdupilotMavlinkCompassSetup.vue'
 import FailsafesConfiguration from './configuration/failsafes/Failsafes.vue'
 import LightsConfigration from './configuration/lights.vue'
+import PowerConfiguration from './configuration/power/PowerConfiguration.vue'
 import BaroCalib from './overview/BaroCalib.vue'
 import GripperInfo from './overview/gripper.vue'
 import GyroCalib from './overview/GyroCalib.vue'
@@ -72,6 +73,7 @@ export default Vue.extend({
     LeakInfo,
     ParamSets,
     LightsConfigration,
+    PowerConfiguration,
     ArdupilotMavlinkCompassSetup,
     ArdupilotAccelerometerSetup,
     SpinningLogo,
@@ -97,6 +99,7 @@ export default Vue.extend({
           filter: () => autopilot.vehicle_type === 'Submarine',
         },
         { title: 'Failsafes', value: 'failsafes', component: FailsafesConfiguration },
+        { title: 'Power', value: 'power', component: PowerConfiguration },
         { title: 'Camera Gimbal', value: 'camera', component: Camera },
       ] as Item[],
     }
diff --git a/core/frontend/src/components/vehiclesetup/configuration/power/BatteryCard.vue b/core/frontend/src/components/vehiclesetup/configuration/power/BatteryCard.vue
new file mode 100644
index 0000000000..30a0cdf172
--- /dev/null
+++ b/core/frontend/src/components/vehiclesetup/configuration/power/BatteryCard.vue
@@ -0,0 +1,459 @@
+<template>
+  <v-card class="battery-card mb-4" elevation="2">
+    <v-card-title class="d-flex align-center">
+      <v-icon left>
+        mdi-battery
+      </v-icon>
+      {{ title }}
+      <v-spacer />
+      <span v-if="voltage != null" class="subtitle-1">
+        {{ voltage.toFixed(2) }} V / {{ (current ?? 0).toFixed(2) }} A
+      </span>
+    </v-card-title>
+    <v-card-text>
+      <v-row dense align="center">
+        <v-col cols="5" class="label-col">
+          <parameter-label label="Battery Monitor" :param="monitorParam" />
+        </v-col>
+        <v-col cols="7">
+          <inline-parameter-editor
+            :param="monitorParam"
+            :auto-set="true"
+          />
+        </v-col>
+      </v-row>
+
+      <template v-if="monitor_enabled">
+        <v-divider class="my-2" />
+
+        <v-row dense align="center">
+          <v-col cols="5" class="label-col">
+            Power Sensor
+          </v-col>
+          <v-col cols="7">
+            <v-select
+              v-model="selected_sensor"
+              :items="sensor_options"
+              dense
+              hide-details
+              @change="applySensorPreset"
+            />
+          </v-col>
+        </v-row>
+
+        <v-btn
+          text
+          x-small
+          class="mt-2"
+          @click="show_advanced = !show_advanced"
+        >
+          <v-icon left x-small>
+            {{ show_advanced ? 'mdi-chevron-up' : 'mdi-chevron-down' }}
+          </v-icon>
+          {{ show_advanced ? 'Hide' : 'Show' }} Advanced
+        </v-btn>
+
+        <v-expand-transition>
+          <div v-if="show_advanced">
+            <v-divider class="my-2" />
+
+            <v-row v-if="voltPinParam" dense align="center">
+              <v-col cols="5" class="label-col">
+                <parameter-label label="Voltage Pin" :param="voltPinParam" />
+              </v-col>
+              <v-col cols="7">
+                <inline-parameter-editor
+                  :param="voltPinParam"
+                  :auto-set="true"
+                />
+              </v-col>
+            </v-row>
+
+            <v-row v-if="currPinParam" dense align="center">
+              <v-col cols="5" class="label-col">
+                <parameter-label label="Current Pin" :param="currPinParam" />
+              </v-col>
+              <v-col cols="7">
+                <inline-parameter-editor
+                  :param="currPinParam"
+                  :auto-set="true"
+                />
+              </v-col>
+            </v-row>
+
+            <v-row v-if="voltMultParam" dense align="center">
+              <v-col cols="5" class="label-col">
+                <parameter-label label="Voltage Multiplier" :param="voltMultParam" />
+              </v-col>
+              <v-col cols="7" class="d-flex align-center">
+                <div class="flex-grow-1">
+                  <inline-parameter-editor
+                    :param="voltMultParam"
+                    :auto-set="true"
+                  />
+                </div>
+                <v-btn
+                  v-if="voltage != null"
+                  x-small
+                  color="primary"
+                  class="ml-2"
+                  @click="show_voltage_calc = true"
+                >
+                  Calculate
+                </v-btn>
+              </v-col>
+            </v-row>
+
+            <v-alert
+              v-if="voltMultParam"
+              type="info"
+              dense
+              text
+              class="my-1 caption"
+            >
+              If the reported voltage differs from a voltmeter reading, adjust the multiplier.
+            </v-alert>
+
+            <v-row v-if="ampPerVoltParam" dense align="center">
+              <v-col cols="5" class="label-col">
+                <parameter-label label="Amps per Volt" :param="ampPerVoltParam" />
+              </v-col>
+              <v-col cols="7" class="d-flex align-center">
+                <div class="flex-grow-1">
+                  <inline-parameter-editor
+                    :param="ampPerVoltParam"
+                    :auto-set="true"
+                  />
+                </div>
+                <v-btn
+                  v-if="voltage != null"
+                  x-small
+                  color="primary"
+                  class="ml-2"
+                  @click="show_current_calc = true"
+                >
+                  Calculate
+                </v-btn>
+              </v-col>
+            </v-row>
+
+            <v-row v-if="ampOffsetParam" dense align="center">
+              <v-col cols="5" class="label-col">
+                <parameter-label label="Amps Offset" :param="ampOffsetParam" />
+              </v-col>
+              <v-col cols="7">
+                <inline-parameter-editor
+                  :param="ampOffsetParam"
+                  :auto-set="true"
+                />
+              </v-col>
+            </v-row>
+
+            <v-alert
+              v-if="ampOffsetParam"
+              type="info"
+              dense
+              text
+              class="my-1 caption"
+            >
+              Adjust if the vehicle reports current draw when there is none flowing.
+            </v-alert>
+          </div>
+
+          <v-row v-if="capacityParam" dense align="center">
+            <v-col cols="5" class="label-col">
+              <parameter-label label="Battery Capacity" :param="capacityParam" />
+            </v-col>
+            <v-col cols="7">
+              <inline-parameter-editor
+                :param="capacityParam"
+                :auto-set="true"
+              />
+            </v-col>
+          </v-row>
+
+          <v-row v-if="armVoltParam" dense align="center">
+            <v-col cols="5" class="label-col">
+              <parameter-label label="Min Arming Voltage" :param="armVoltParam" />
+            </v-col>
+            <v-col cols="7">
+              <inline-parameter-editor
+                :param="armVoltParam"
+                :auto-set="true"
+              />
+            </v-col>
+          </v-row>
+        </v-expand-transition>
+
+        <v-dialog v-model="show_voltage_calc" max-width="400">
+          <v-card class="pa-4">
+            <v-card-title class="subtitle-1 font-weight-bold">
+              Calculate Voltage Multiplier
+            </v-card-title>
+            <v-card-text>
+              <p class="body-2">
+                Measure battery voltage with an external voltmeter and enter it below.
+              </p>
+              <v-text-field
+                v-model.number="measured_voltage"
+                label="Measured Voltage (V)"
+                type="number"
+                step="0.01"
+                dense
+                hide-details
+                class="mb-3"
+              />
+              <div v-if="voltage != null" class="body-2 mb-1">
+                <b>Vehicle Voltage:</b> {{ voltage.toFixed(3) }} V
+              </div>
+              <div v-if="voltMultParam" class="body-2">
+                <b>Current Multiplier:</b> {{ voltMultParam.value }}
+              </div>
+            </v-card-text>
+            <v-card-actions>
+              <v-spacer />
+              <v-btn text small @click="show_voltage_calc = false">
+                Cancel
+              </v-btn>
+              <v-btn
+                small
+                color="primary"
+                :disabled="!can_calculate_voltage"
+                @click="calculateVoltageMultiplier"
+              >
+                Calculate &amp; Set
+              </v-btn>
+            </v-card-actions>
+          </v-card>
+        </v-dialog>
+
+        <v-dialog v-model="show_current_calc" max-width="400">
+          <v-card class="pa-4">
+            <v-card-title class="subtitle-1 font-weight-bold">
+              Calculate Amps per Volt
+            </v-card-title>
+            <v-card-text>
+              <p class="body-2">
+                Measure current draw with an external current meter and enter it below.
+              </p>
+              <v-text-field
+                v-model.number="measured_current"
+                label="Measured Current (A)"
+                type="number"
+                step="0.01"
+                dense
+                hide-details
+                class="mb-3"
+              />
+              <div v-if="current != null" class="body-2 mb-1">
+                <b>Vehicle Current:</b> {{ current.toFixed(3) }} A
+              </div>
+              <div v-if="ampPerVoltParam" class="body-2">
+                <b>Current Amps/Volt:</b> {{ ampPerVoltParam.value }}
+              </div>
+            </v-card-text>
+            <v-card-actions>
+              <v-spacer />
+              <v-btn text small @click="show_current_calc = false">
+                Cancel
+              </v-btn>
+              <v-btn
+                small
+                color="primary"
+                :disabled="!can_calculate_current"
+                @click="calculateAmpsPerVolt"
+              >
+                Calculate &amp; Set
+              </v-btn>
+            </v-card-actions>
+          </v-card>
+        </v-dialog>
+      </template>
+    </v-card-text>
+  </v-card>
+</template>
+
+<script lang="ts">
+import Vue, { PropType } from 'vue'
+
+import mavlink2rest from '@/libs/MAVLink2Rest'
+import autopilot_data from '@/store/autopilot'
+import Parameter from '@/types/autopilot/parameter'
+
+interface SensorPreset {
+  text: string
+  voltPin: number
+  currPin: number
+  voltMult: number
+  ampPerVolt: number
+  ampOffset: number
+}
+
+const SENSOR_PRESETS: SensorPreset[] = [
+  {
+    text: 'Power Module 90A',
+    voltPin: 2,
+    currPin: 3,
+    voltMult: 10.1,
+    ampPerVolt: 17.0,
+    ampOffset: 0,
+  },
+  {
+    text: 'Power Module HV',
+    voltPin: 2,
+    currPin: 3,
+    voltMult: 12.02,
+    ampPerVolt: 39.877,
+    ampOffset: 0,
+  },
+  {
+    text: '3DR Iris',
+    voltPin: 2,
+    currPin: 3,
+    voltMult: 12.02,
+    ampPerVolt: 17.0,
+    ampOffset: 0,
+  },
+  {
+    text: 'Blue Robotics Power Sense Module',
+    voltPin: 2,
+    currPin: 3,
+    voltMult: 11.000,
+    ampPerVolt: 37.8788,
+    ampOffset: 0.330,
+  },
+  {
+    text: 'Navigator w/ Blue Robotics Power Sense Module',
+    voltPin: 5,
+    currPin: 4,
+    voltMult: 11.000,
+    ampPerVolt: 37.8788,
+    ampOffset: 0.330,
+  },
+]
+
+export default Vue.extend({
+  name: 'BatteryCard',
+  components: {
+    'inline-parameter-editor': () => import('@/components/parameter-editor/InlineParameterEditor.vue'),
+    ParameterLabel: () => import('@/components/parameter-editor/ParameterLabel.vue'),
+  },
+  props: {
+    title: { type: String, required: true },
+    monitorParam: { type: Object as PropType<Parameter | undefined>, default: undefined },
+    capacityParam: { type: Object as PropType<Parameter | undefined>, default: undefined },
+    armVoltParam: { type: Object as PropType<Parameter | undefined>, default: undefined },
+    voltPinParam: { type: Object as PropType<Parameter | undefined>, default: undefined },
+    currPinParam: { type: Object as PropType<Parameter | undefined>, default: undefined },
+    voltMultParam: { type: Object as PropType<Parameter | undefined>, default: undefined },
+    ampPerVoltParam: { type: Object as PropType<Parameter | undefined>, default: undefined },
+    ampOffsetParam: { type: Object as PropType<Parameter | undefined>, default: undefined },
+    voltage: { type: Number as PropType<number | undefined>, default: undefined },
+    current: { type: Number as PropType<number | undefined>, default: undefined },
+  },
+  data() {
+    return {
+      selected_sensor: null as string | null,
+      show_advanced: false,
+      show_voltage_calc: false,
+      show_current_calc: false,
+      measured_voltage: null as number | null,
+      measured_current: null as number | null,
+    }
+  },
+  computed: {
+    monitor_enabled(): boolean {
+      return this.monitorParam != null && this.monitorParam.value !== 0
+    },
+    sensor_options(): string[] {
+      return [...SENSOR_PRESETS.map((p) => p.text), 'Other']
+    },
+    can_calculate_voltage(): boolean {
+      return this.measured_voltage != null && this.measured_voltage > 0
+        && this.voltage != null && this.voltage !== 0
+    },
+    can_calculate_current(): boolean {
+      return this.measured_current != null && this.measured_current > 0
+        && this.current != null && this.current !== 0
+    },
+    sensor_fingerprint(): string {
+      return [
+        this.voltPinParam?.value,
+        this.currPinParam?.value,
+        this.voltMultParam?.value,
+        this.ampPerVoltParam?.value,
+        this.ampOffsetParam?.value,
+      ].join(',')
+    },
+  },
+  watch: {
+    monitor_enabled: {
+      immediate: true,
+      handler() {
+        if (this.monitor_enabled) {
+          this.detectCurrentSensor()
+        }
+      },
+    },
+    sensor_fingerprint() { this.detectCurrentSensor() },
+  },
+  methods: {
+    detectCurrentSensor() {
+      if (!this.voltPinParam || !this.currPinParam || !this.voltMultParam || !this.ampPerVoltParam) {
+        return
+      }
+      for (const preset of SENSOR_PRESETS) {
+        if (preset.voltPin === this.voltPinParam.value
+          && preset.currPin === this.currPinParam.value
+          && preset.voltMult === this.voltMultParam.value
+          && preset.ampPerVolt === this.ampPerVoltParam.value
+          && preset.ampOffset === (this.ampOffsetParam?.value ?? 0)) {
+          this.selected_sensor = preset.text
+          return
+        }
+      }
+      this.selected_sensor = 'Other'
+      this.show_advanced = true
+    },
+    applySensorPreset(selected: string) {
+      const preset = SENSOR_PRESETS.find((p) => p.text === selected)
+      if (!preset) return
+
+      const { system_id } = autopilot_data
+      if (this.voltPinParam) mavlink2rest.setParam(this.voltPinParam.name, preset.voltPin, system_id)
+      if (this.currPinParam) mavlink2rest.setParam(this.currPinParam.name, preset.currPin, system_id)
+      if (this.voltMultParam) mavlink2rest.setParam(this.voltMultParam.name, preset.voltMult, system_id)
+      if (this.ampPerVoltParam) mavlink2rest.setParam(this.ampPerVoltParam.name, preset.ampPerVolt, system_id)
+      if (this.ampOffsetParam) mavlink2rest.setParam(this.ampOffsetParam.name, preset.ampOffset, system_id)
+    },
+    calculateVoltageMultiplier() {
+      if (!this.can_calculate_voltage || !this.voltMultParam) return
+      const newMult = this.measured_voltage! * this.voltMultParam.value / this.voltage!
+      mavlink2rest.setParam(this.voltMultParam.name, newMult, autopilot_data.system_id)
+      this.show_voltage_calc = false
+      this.measured_voltage = null
+    },
+    calculateAmpsPerVolt() {
+      if (!this.can_calculate_current || !this.ampPerVoltParam) return
+      const newApv = this.measured_current! * this.ampPerVoltParam.value / this.current!
+      mavlink2rest.setParam(this.ampPerVoltParam.name, newApv, autopilot_data.system_id)
+      this.show_current_calc = false
+      this.measured_current = null
+    },
+  },
+})
+</script>
+
+<style scoped>
+.label-col {
+  text-align: right;
+  font-weight: 500;
+}
+</style>
+
+<style>
+.battery-card .v-text-field .v-label,
+.battery-card .v-select .v-label {
+  display: none;
+}
+</style>
diff --git a/core/frontend/src/components/vehiclesetup/configuration/power/PowerConfiguration.vue b/core/frontend/src/components/vehiclesetup/configuration/power/PowerConfiguration.vue
new file mode 100644
index 0000000000..d3b6d44201
--- /dev/null
+++ b/core/frontend/src/components/vehiclesetup/configuration/power/PowerConfiguration.vue
@@ -0,0 +1,72 @@
+<template>
+  <div v-if="params_finished_loaded" class="power-container pa-4">
+    <battery-card
+      title="Battery 1"
+      :monitor-param="parameter('BATT_MONITOR')"
+      :capacity-param="parameter('BATT_CAPACITY')"
+      :arm-volt-param="parameter('BATT_ARM_VOLT')"
+      :volt-pin-param="parameter('BATT_VOLT_PIN')"
+      :curr-pin-param="parameter('BATT_CURR_PIN')"
+      :volt-mult-param="parameter('BATT_VOLT_MULT')"
+      :amp-per-volt-param="parameter('BATT_AMP_PERVLT')"
+      :amp-offset-param="parameter('BATT_AMP_OFFSET')"
+      :voltage="battery_voltage"
+      :current="battery_current"
+    />
+    <battery-card
+      v-if="parameter('BATT2_MONITOR')"
+      title="Battery 2"
+      :monitor-param="parameter('BATT2_MONITOR')"
+      :capacity-param="parameter('BATT2_CAPACITY')"
+      :arm-volt-param="parameter('BATT2_ARM_VOLT')"
+      :volt-pin-param="parameter('BATT2_VOLT_PIN')"
+      :curr-pin-param="parameter('BATT2_CURR_PIN')"
+      :volt-mult-param="parameter('BATT2_VOLT_MULT')"
+      :amp-per-volt-param="parameter('BATT2_AMP_PERVLT')"
+      :amp-offset-param="parameter('BATT2_AMP_OFFSET')"
+    />
+  </div>
+</template>
+
+<script lang="ts">
+import Vue from 'vue'
+
+import autopilot_data from '@/store/autopilot'
+import mavlink from '@/store/mavlink'
+import Parameter from '@/types/autopilot/parameter'
+import mavlink_store_get from '@/utils/mavlink'
+
+import BatteryCard from './BatteryCard.vue'
+
+export default Vue.extend({
+  name: 'PowerConfiguration',
+  components: {
+    BatteryCard,
+  },
+  computed: {
+    params_finished_loaded(): boolean {
+      return autopilot_data.finished_loading
+    },
+    battery_voltage(): number {
+      const voltage_microvolts = mavlink_store_get(mavlink, 'SYS_STATUS.messageData.message.voltage_battery') as number
+      return voltage_microvolts / 1000
+    },
+    battery_current(): number {
+      const current_centiampere = mavlink_store_get(mavlink, 'SYS_STATUS.messageData.message.current_battery') as number
+      return current_centiampere / 100
+    },
+  },
+  methods: {
+    parameter(name: string): Parameter | undefined {
+      return autopilot_data.parameter(name)
+    },
+  },
+})
+</script>
+
+<style scoped>
+.power-container {
+  max-width: 700px;
+  margin: 0 auto;
+}
+</style>