Torqeedo RS485 Data Enable Pin (TRQD_DE_PIN)

Description

TRQD_DE_PIN is required when using a generic RS485-to-Serial converter module to talk to the Torqeedo motor.

RS485 is a half-duplex protocol. The converter needs a signal to know when to transmit and when to listen. This pin provides that "Push-to-Talk" signal.

Tuning & Behavior

• -1 (Default): Use the serial port's CTS pin (if hardware flow control is supported).
• 0-103: Physical GPIO pin number connected to the DE/RE pin on the RS485 module.

Torqeedo Direction Change Delay (TRQD_DIR_DELAY)

Description

TRQD_DIR_DELAY protects the motor's gearbox and electronics from high-torque reversals.

Electric boat motors generate massive torque. Attempting to switch from full-forward to full-reverse instantly can strip gears or blow electrical fuses. This parameter introduces a mandatory "neutral" pause to allow the propeller to slow down before it is powered in the opposite direction.

Tuning & Behavior

• Default: 0.5 seconds.
• Recommendation: Set to 1.0 second for larger propellers to ensure a smooth and safe transition.

Torqeedo Power Control Pin (TRQD_ONOFF_PIN)

Description

TRQD_ONOFF_PIN allows ArduPilot to electronically "Push the Power Button" on your Torqeedo motor.

Torqeedo motors require a specific startup sequence. By connecting a GPIO pin to the motor's power control line, the autopilot can automatically wake the motor up when the boat is armed and put it to sleep when disarmed, saving battery and ensuring readiness.

• -1: Disabled (Manual power control).
• 0-103: Physical GPIO pin number.

Tuning & Behavior

• Recommendation: Use the serial port's RTS pin if your hardware supports it, as it provides a clean, dedicated signal line for this purpose.

Torqeedo Integration Options (TRQD_OPTIONS)

Description

TRQD_OPTIONS is a bitmask to enable specific communication behaviors with the Torqeedo Tiller or motor controller.

• Bit 0 (1): Reverse Direction. If set, the forward/reverse logic of the Torqeedo motor is swapped at the protocol level.

Tuning & Behavior

• Default: 1.
• Usage: Enable Bit 0 if your boat moves backward when the autopilot commands forward speed.

Torqeedo Motor Power Limit (TRQD_POWER)

Description

TRQD_POWER allows you to cap the maximum output of a Torqeedo electric boat motor.

Since Torqeedo motors are very powerful, you may want to limit the maximum energy consumption to extend your mission time or to prevent the motor from overwhelming a small hull. This parameter scales the autopilot's full-throttle request to this percentage of the motor's actual capability.

Tuning & Behavior

• Default: 100%.
• Usage: Set to 50 or 75 to improve energy efficiency for long-range autonomous boating.
• Dependency: Only active if TRQD_TYPE is set to a motor driver mode.

Torqeedo Servo Function (TRQD_SERVO_FN)

Description

TRQD_SERVO_FN maps the Torqeedo driver to a specific motor output channel logic.

• 73: Throttle Left.
• 74: Throttle Right.
• 0: Disabled.

Torqeedo Throttle Slew Time (TRQD_SLEW_TIME)

Description

TRQD_SLEW_TIME ensures smooth power delivery to the Torqeedo motor.

Large electric boat motors generate massive torque. If the autopilot "slams" the throttle from 0 to 100% instantly, it can cause the boat to lurch, put excessive strain on the transom, or even trigger a fuse/breaker due to the massive current surge. This parameter limits how fast the throttle can increase.

• Higher Value (e.g. 5.0): Very slow, majestic ramp-up.
• Lower Value (e.g. 0.5): Very aggressive, snappy response.
• 0: (Not Recommended). Instantaneous response.

Tuning & Behavior

• Default: 2.0 seconds.
• Recommendation: Leave at 2.0 or higher for large hulls to ensure mechanical longevity.
• Note: This only limits the increase in throttle; for safety, throttle can always be decreased much faster.

Torqeedo Connection Type (TRQD_TYPE)

Description

TRQD_TYPE enables the autopilot to communicate with a Torqeedo electric outboard motor (common on large autonomous boats).

The autopilot communicates with the motor's internal controller over a serial link (usually via an RS485 converter). This allows ArduPilot to command thrust precisely and read back live telemetry like battery status and power consumption from the motor itself.

• 0: Disabled.
• 1: Tiller. Commands the motor as if the autopilot were the physical Torqeedo tiller.
• 2: Motor. Direct motor control mode.

Tuning & Behavior

• Reboot Required: Yes.
• Integration: You must also configure the ON/OFF pin (TRQD_ONOFF_PIN) and the Serial port protocol (SERIALx_PROTOCOL = 39).