From 3356baed53e567e8bc78483a997f62c6b5389e2b Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Mon, 5 Aug 2019 13:42:48 -0300
Subject: [PATCH] SITL: get rid of frame_vectored.h for Sub

---
 libraries/SITL/Frame_Vectored.h  | 50 --------------------------------
 libraries/SITL/SIM_Submarine.cpp | 16 +++++-----
 2 files changed, 8 insertions(+), 58 deletions(-)
 delete mode 100644 libraries/SITL/Frame_Vectored.h

diff --git a/libraries/SITL/Frame_Vectored.h b/libraries/SITL/Frame_Vectored.h
deleted file mode 100644
index cdb5fb2bb0..0000000000
--- a/libraries/SITL/Frame_Vectored.h
+++ /dev/null
@@ -1,50 +0,0 @@
-#pragma once
-
-using namespace SITL;
-
-#define MOT_1_ROLL_FACTOR 0.0
-#define MOT_1_PITCH_FACTOR 0.0
-#define MOT_1_YAW_FACTOR 1.0
-#define MOT_1_THROTTLE_FACTOR 0.0
-#define MOT_1_FORWARD_FACTOR -1
-#define MOT_1_STRAFE_FACTOR 1
-
-//Front left
-#define MOT_2_ROLL_FACTOR 0.0
-#define MOT_2_PITCH_FACTOR 0.0
-#define MOT_2_YAW_FACTOR -1.0
-#define MOT_2_THROTTLE_FACTOR 0.0
-#define MOT_2_FORWARD_FACTOR -1
-#define MOT_2_STRAFE_FACTOR -1
-
-//Back right
-#define MOT_3_ROLL_FACTOR 0
-#define MOT_3_PITCH_FACTOR 0
-#define MOT_3_YAW_FACTOR -1.0
-#define MOT_3_THROTTLE_FACTOR 0.0
-#define MOT_3_FORWARD_FACTOR 1
-#define MOT_3_STRAFE_FACTOR 1
-
-//Back left
-#define MOT_4_ROLL_FACTOR 0
-#define MOT_4_PITCH_FACTOR 0
-#define MOT_4_YAW_FACTOR 1.0
-#define MOT_4_THROTTLE_FACTOR 0.0
-#define MOT_4_FORWARD_FACTOR 1
-#define MOT_4_STRAFE_FACTOR -1
-
-//Right facing up
-#define MOT_5_ROLL_FACTOR 1.0
-#define MOT_5_PITCH_FACTOR 0.0
-#define MOT_5_YAW_FACTOR 0.0
-#define MOT_5_THROTTLE_FACTOR -1
-#define MOT_5_FORWARD_FACTOR 0.0
-#define MOT_5_STRAFE_FACTOR 0.0
-
-//Left facing up
-#define MOT_6_ROLL_FACTOR -1.0
-#define MOT_6_PITCH_FACTOR 0.0
-#define MOT_6_YAW_FACTOR 0.0
-#define MOT_6_THROTTLE_FACTOR -1
-#define MOT_6_FORWARD_FACTOR 0.0
-#define MOT_6_STRAFE_FACTOR 0.0
diff --git a/libraries/SITL/SIM_Submarine.cpp b/libraries/SITL/SIM_Submarine.cpp
index 89cd67b7c9..9a50cada10 100644
--- a/libraries/SITL/SIM_Submarine.cpp
+++ b/libraries/SITL/SIM_Submarine.cpp
@@ -18,20 +18,20 @@
 
 #include "SIM_Submarine.h"
 #include <AP_Motors/AP_Motors.h>
-#include "Frame_Vectored.h"
 
 #include <stdio.h>
 
 using namespace SITL;
 
 static Thruster vectored_thrusters[] =
-{
-       Thruster(0, MOT_1_ROLL_FACTOR, MOT_1_PITCH_FACTOR, MOT_1_YAW_FACTOR, MOT_1_THROTTLE_FACTOR, MOT_1_FORWARD_FACTOR, MOT_1_STRAFE_FACTOR),
-       Thruster(1, MOT_2_ROLL_FACTOR, MOT_2_PITCH_FACTOR, MOT_2_YAW_FACTOR, MOT_2_THROTTLE_FACTOR, MOT_2_FORWARD_FACTOR, MOT_2_STRAFE_FACTOR),
-       Thruster(2, MOT_3_ROLL_FACTOR, MOT_3_PITCH_FACTOR, MOT_3_YAW_FACTOR, MOT_3_THROTTLE_FACTOR, MOT_3_FORWARD_FACTOR, MOT_3_STRAFE_FACTOR),
-       Thruster(3, MOT_4_ROLL_FACTOR, MOT_4_PITCH_FACTOR, MOT_4_YAW_FACTOR, MOT_4_THROTTLE_FACTOR, MOT_4_FORWARD_FACTOR, MOT_4_STRAFE_FACTOR),
-       Thruster(4, MOT_5_ROLL_FACTOR, MOT_5_PITCH_FACTOR, MOT_5_YAW_FACTOR, MOT_5_THROTTLE_FACTOR, MOT_5_FORWARD_FACTOR, MOT_5_STRAFE_FACTOR),
-       Thruster(5, MOT_6_ROLL_FACTOR, MOT_6_PITCH_FACTOR, MOT_6_YAW_FACTOR, MOT_6_THROTTLE_FACTOR, MOT_6_FORWARD_FACTOR, MOT_6_STRAFE_FACTOR)
+{      //       Motor #     Roll Factor     Pitch Factor    Yaw Factor      Throttle Factor     Forward Factor      Lateral Factor
+       Thruster(0,          0,              0,              1.0f,           0,                  -1.0f,              1.0f),
+       Thruster(1,          0,              0,              -1.0f,          0,                  -1.0f,              -1.0f),
+       Thruster(2,          0,              0,              -1.0f,          0,                  1.0f,               1.0f),
+       Thruster(3,          0,              0,              1.0f,           0,                  1.0f,               -1.0f),
+       Thruster(4,          1.0f,           0,              0,              -1.0f,              0,                  0),
+       Thruster(5,          -1.0f,          0,              0,              -1.0f,              0,                  0)
+};
 
 };