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4.7:Add TorqLink LUA driver #6584

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4.7:Add TorqLink LUA driver #6584

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10 changes: 9 additions & 1 deletion common/source/docs/common-torqeedo.rst
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Expand Up @@ -8,8 +8,11 @@ Torqeedo Electric Motors

Rover-4.2.0 (and higher) supports controlling a single `Torqeedo Travel <https://www.torqeedo.com/en/products/outboards/travel>`__, `Ultralight <https://www.torqeedo.com/en/products/outboards/ultralight>`__ or `Cruise <https://www.torqeedo.com/en/products/outboards/cruise>`__ motor using its custom RS485 protocol.

Some images from this page are courtesy of torqeedo.com
Rover-4.7 (and higher) supports controlling single or dual Torqeedo motors that use ``TorqLink`` CAN protocol for motor control.

Some images from this page are courtesy of torqeedo.com
RS485 Controlled Motors
=======================
What to Buy
-----------

Expand Down Expand Up @@ -113,5 +116,10 @@ Introduction Videos
.. youtube:: Wt7vfV4CcFc
:width: 100%

TorqLink Controlled Motors
==========================

A LUA driver is provided 'here <https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/drivers/torqeedo-torqlink.lua>`__ for control of one or two motors via the ``SERVOx_FUNCTION`` of "Throttle" or "ThrottleLeft, ThrottleRight". The motor(s) control is attached to the autopilot's CAN port. Follow the `readme <https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/drivers/torqeedo-torqlink.md>`__ for the driver.

[copywiki destination="rover"]