Torqeedo Cruise Integration

ArduRover ArduBoat
1

I have a Torqeedo Cruise 3.0 FP that I have been trying to get working with a Pixhawk Cube Orange running ArduRover V4.5.7. I am using the JapanDrones adapter board plugged into the TELEM 1 port. I have the following settings configured:

Name Value
TRQD_DE_PIN 54
TRQD_DIR_DELAY 1
TRQD_ONOFF_PIN 55
TRQD_OPTIONS 3
TRQD_POWER 100
TRQD_SLEW_TIME 2
TRQD_TYPE 2

I am able to get the motor to run smoothly, but don’t seem to be getting any telemetry feedback from it. I have the JapanDrones adapter board connected directly to the motor and am using a programmable DC power supply to power the motor. I have tried changing TRQD_TYPE to 1, but I do not get any functionality with that setting.

The messages output for TRQD_TYPE=2 look like this:

Screenshot 2025-01-24 141845
Screenshot 2025-01-24 141845578×586 6.2 KB

And with TRQD_TYPE=1, they look like this:

image
image322×240 2.34 KB

Both of the above screenshots include time when the throttle is on and off.

And here’s a log file
2025-01-24 15-01-05.tlog (86.9 KB)

@rmackay9 if you have any suggestions for what to try next, that would be appreciated! Thanks!

2

Hi @ari.robinson,

Thanks for the report. We’ve had another report of the same issue so I think that the message structure is different for the Cruise vs the smaller Travel motor which is what we originally used to develop the feature.

There are two possible solutions:

  1. we somehow figure out what the Cruise motor’s interface is. Ideally Torqeedo would provide us with the interface document but I’ve found it quite hard to get them to answer to any requests since I lost my single contact within their organisation. Theoretically we could try and reverse engineer the message format but that will be tricky without me having the actual hardware. It’s not impossible but it will require a lot of back and forth testing where I send you a modified version, you test it, provide results, I adjust it, etc.
  2. switch to use TorqLink which we’ve just added basic support for using this Lua script. It doesn’t yet provide any feedback from the motor but that’s coming soon.