added extra endpoints

iq-motion-control · Jan 10, 2025 · ecdd6f7 · ecdd6f7
1 parent 4409930
commit ecdd6f7
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Showing 3 changed files with 36 additions and 0 deletions.
diff --git a/src/drivers/actuators/vertiq_io/module.yaml b/src/drivers/actuators/vertiq_io/module.yaml
@@ -206,6 +206,31 @@ parameters:
             min: 0
             max: 255
             default: 0
+        VTQ_PHASE_LEAD:
+            description:
+                short: Module Param - The pulsing phase lead time
+                long: |
+            type: float
+            min: -1
+            max: 1
+            default: 0
+        VTQ_PLS_COEFF_0:
+            description:
+                short: Module Param - The pulsing coeff 0
+                long: |
+            type: float
+            min: -1000
+            max: 1000
+            default: 0
+        VTQ_TIMEOUT:
+            description:
+                short: Module Param - Timeout between control signals to disarm
+                long: |
+                    This represents the number of seconds between control signals before the motor will assume that connection has been lost and attempt to slow itself to a stop.
+            type: float
+            min: 0
+            max: 1000
+            default: 0
         VTQ_TELEM_IDS_1:
             description:
                 short: Module IDs [0, 31] that you would like to request telemetry from

diff --git a/src/drivers/actuators/vertiq_io/vertiq_configuration_handler.cpp b/src/drivers/actuators/vertiq_io/vertiq_configuration_handler.cpp
@@ -45,6 +45,8 @@ void VertiqConfigurationHandler::InitConfigurationClients(uint8_t object_id)
 
 	_prop_input_parser_client = new EscPropellerInputParserClient(object_id);
 	_client_manager->AddNewClient(_prop_input_parser_client);
+	_prop_motor_control_client = new PropellerMotorControlClient(object_id);
+	_client_manager->AddNewClient(_prop_motor_control_client);
 
 #ifdef CONFIG_USE_IFCI_CONFIGURATION
 	_ifci_client = new IQUartFlightControllerInterfaceClient(object_id);
@@ -68,6 +70,8 @@ void VertiqConfigurationHandler::InitClientEntryWrappers()
 	AddNewClientEntry<uint8_t, int32_t>(param_find("VTQ_MOTOR_DIR"), &(_prop_input_parser_client->sign_));
 	AddNewClientEntry<uint8_t, int32_t>(param_find("VTQ_FC_DIR"), &(_prop_input_parser_client->flip_negative_));
 
+	AddNewClientEntry<float, float>(param_find("VTQ_TIMEOUT"), &(_prop_motor_control_client->timeout_));
+
 #ifdef CONFIG_USE_IFCI_CONFIGURATION
 	AddNewClientEntry<uint8_t, int32_t>(param_find("VTQ_THROTTLE_CVI"), &(_ifci_client->throttle_cvi_));
 #endif //CONFIG_USE_IFCI_CONFIGURATION
@@ -84,6 +88,10 @@ void VertiqConfigurationHandler::InitClientEntryWrappers()
 					&(_voltage_superposition_client->propeller_torque_offset_angle_));
 	AddNewClientEntry<float, float>(param_find("VTQ_PULSE_V_LIM"),
 					&(_pulsing_rectangular_input_parser_client->pulsing_voltage_limit_));
+	AddNewClientEntry<float, float>(param_find("VTQ_PHASE_LEAD"),
+					&(_voltage_superposition_client->phase_lead_time_));
+	AddNewClientEntry<float, float>(param_find("VTQ_PLS_COEFF_0"),
+					&(_voltage_superposition_client->poly_limit_zero_));
 #endif //CONFIG_USE_PULSING_CONFIGURATION
 }
 
@@ -92,6 +100,7 @@ void VertiqConfigurationHandler::UpdateClientsToNewObjId(uint8_t new_object_id)
 	_object_id_now = new_object_id;
 
 	DestroyAndRecreateClient<EscPropellerInputParserClient>(_prop_input_parser_client, new_object_id);
+	DestroyAndRecreateClient<PropellerMotorControlClient>(_prop_motor_control_client, new_object_id);
 
 #ifdef CONFIG_USE_IFCI_CONFIGURATION
 	DestroyAndRecreateClient<IQUartFlightControllerInterfaceClient>(_ifci_client, new_object_id);

diff --git a/src/drivers/actuators/vertiq_io/vertiq_configuration_handler.hpp b/src/drivers/actuators/vertiq_io/vertiq_configuration_handler.hpp
@@ -46,6 +46,7 @@
 #include "entry_wrapper.hpp"
 #include "vertiq_client_manager.hpp"
 #include "iq-module-communication-cpp/inc/esc_propeller_input_parser_client.hpp"
+#include "iq-module-communication-cpp/inc/propeller_motor_control_client.hpp"
 
 #include "iq-module-communication-cpp/inc/arming_handler_client.hpp"
 #include "iq-module-communication-cpp/inc/iquart_flight_controller_interface_client.hpp"
@@ -158,6 +159,7 @@ class VertiqConfigurationHandler
 //Vertiq Client information
 	//Known Configuration Clients can be created as pointers to certain types of clients
 	EscPropellerInputParserClient *_prop_input_parser_client;
+	PropellerMotorControlClient *_prop_motor_control_client;
 
 #ifdef CONFIG_USE_IFCI_CONFIGURATION
 	//Make all of the clients that we need to talk to the IFCI config params