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AP_Torqeedo: add support for two motors #26494

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merged 3 commits into from
May 8, 2024
Merged

AP_Torqeedo: add support for two motors #26494

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4e35a66
AP_Torqeedo: multi backend support
rmackay9 Mar 11, 2024
643ca21
AP_BattMonitor: torqeedo support for multiple instances
rmackay9 Mar 12, 2024
81d7535
Rover: torqeedo multiple backend integration
rmackay9 Mar 12, 2024
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11 changes: 9 additions & 2 deletions Rover/Parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -642,9 +642,9 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_GROUPINFO("FS_OPTIONS", 48, ParametersG2, fs_options, 0),

#if HAL_TORQEEDO_ENABLED
// @Group: TRQD_
// @Group: TRQ
// @Path: ../libraries/AP_Torqeedo/AP_Torqeedo.cpp
AP_SUBGROUPINFO(torqeedo, "TRQD_", 49, ParametersG2, AP_Torqeedo),
AP_SUBGROUPINFO(torqeedo, "TRQ", 49, ParametersG2, AP_Torqeedo),
#endif

// @Group: PSC
Expand Down Expand Up @@ -808,6 +808,13 @@ const AP_Param::ConversionInfo conversion_table[] = {
{ Parameters::k_param_g2, 722, AP_PARAM_INT8, "PRX1_IGN_WID4" },
{ Parameters::k_param_g2, 1234, AP_PARAM_FLOAT, "PRX1_MIN" },
{ Parameters::k_param_g2, 1298, AP_PARAM_FLOAT, "PRX1_MAX" },
{ Parameters::k_param_g2, 113, AP_PARAM_INT8, "TRQ1_TYPE" },
{ Parameters::k_param_g2, 177, AP_PARAM_INT8, "TRQ1_ONOFF_PIN" },
{ Parameters::k_param_g2, 241, AP_PARAM_INT8, "TRQ1_DE_PIN" },
{ Parameters::k_param_g2, 305, AP_PARAM_INT16, "TRQ1_OPTIONS" },
{ Parameters::k_param_g2, 369, AP_PARAM_INT8, "TRQ1_POWER" },
{ Parameters::k_param_g2, 433, AP_PARAM_FLOAT, "TRQ1_SLEW_TIME" },
{ Parameters::k_param_g2, 497, AP_PARAM_FLOAT, "TRQ1_DIR_DELAY" },
};


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6 changes: 4 additions & 2 deletions libraries/AP_BattMonitor/AP_BattMonitor_Torqeedo.cpp
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Expand Up @@ -35,10 +35,11 @@ void AP_BattMonitor_Torqeedo::read(void)
}

// get voltage, current, temp and remaining capacity percentage
// assumes battery monitor instance matches torqeedo instance
float volts;
float current_amps;
float temp_C;
if (torqeedo->get_batt_info(volts, current_amps, temp_C, remaining_pct)) {
if (torqeedo->get_batt_info(_state.instance, volts, current_amps, temp_C, remaining_pct)) {
have_info = true;
_state.voltage = volts;
_state.current_amps = current_amps;
Expand All @@ -56,9 +57,10 @@ void AP_BattMonitor_Torqeedo::read(void)
}

// read battery pack capacity
// assumes battery monitor instance matches torqeedo instance
if (!have_capacity) {
uint16_t batt_capacity_ah;
if (torqeedo->get_batt_capacity_Ah(batt_capacity_ah)) {
if (torqeedo->get_batt_capacity_Ah(_state.instance, batt_capacity_ah)) {
have_capacity = true;
if (batt_capacity_ah * 1000 != _params._pack_capacity) {
_params._pack_capacity.set_and_notify(batt_capacity_ah * 1000);
Expand Down
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