Rover: integrate AP_Torqeedo

Rover/Parameters.cpp

@@ -650,6 +650,12 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("FS_OPTIONS", 48, ParametersG2, fs_options, 0),
 
+#if HAL_TORQEEDO_ENABLED
+    // @Group: TRQD_
+    // @Path: ../libraries/AP_Torqeedo/AP_Torqeedo.cpp
+    AP_SUBGROUPINFO(torqeedo, "TRQD_", 49, ParametersG2, AP_Torqeedo),
+#endif
+
     AP_GROUPEND
 };
 

Rover/Parameters.h

@@ -6,6 +6,7 @@
 #include "AC_Sprayer/AC_Sprayer.h"
 #include "AP_Gripper/AP_Gripper.h"
 #include "AP_Rally.h"
+#include "AP_Torqeedo/AP_Torqeedo.h"
 
 // Global parameter class.
 //
@@ -403,6 +404,11 @@ public:
 
     // FS options
     AP_Int32 fs_options;
+
+#if HAL_TORQEEDO_ENABLED
+    // torqeedo motor driver
+    AP_Torqeedo torqeedo;
+#endif
 };
 
 extern const AP_Param::Info var_info[];

Rover/Rover.h

@@ -69,6 +69,7 @@
 #include <AP_OSD/AP_OSD.h>
 #include <AP_WindVane/AP_WindVane.h>
 #include <AP_Motors/AP_MotorsUGV.h>
+#include <AP_Torqeedo/AP_Torqeedo.h>
 
 #ifdef ENABLE_SCRIPTING
 #include <AP_Scripting/AP_Scripting.h>

Rover/system.cpp

@@ -93,6 +93,11 @@ void Rover::init_ardupilot()
     // init wheel encoders
     g2.wheel_encoder.init();
 
+#if HAL_TORQEEDO_ENABLED
+    // init torqeedo motor driver
+    g2.torqeedo.init();
+#endif
+
     relay.init();
 
 #if HAL_MOUNT_ENABLED

Rover/wscript

@@ -26,6 +26,7 @@ def build(bld):
             'AP_OSD',
             'AP_WindVane',
             'AP_Motors',
+            'AP_Torqeedo',
         ],
     )