From 473016b41d8f86c76fdf9413613b43fee1a6781d Mon Sep 17 00:00:00 2001
From: David Ingraham <davingrahamd@gmail.com>
Date: Sat, 20 Feb 2016 20:11:54 -0700
Subject: [PATCH] Sub: Add support for Vectored 6DOF ROV

Sub: Various defines for vectored-6dof configuration

Sub: fix compile errors for vector6dof rov

More fixes
---
 ArduSub/APM_Config.h    | 1 +
 ArduSub/GCS_Mavlink.cpp | 2 +-
 ArduSub/Parameters.cpp  | 2 +-
 ArduSub/Sub.h           | 3 +++
 ArduSub/config.h        | 4 +++-
 ArduSub/defines.h       | 1 +
 6 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/ArduSub/APM_Config.h b/ArduSub/APM_Config.h
index e70a4c600d..d86688e2b1 100644
--- a/ArduSub/APM_Config.h
+++ b/ArduSub/APM_Config.h
@@ -9,6 +9,7 @@
 /*  options:
  *  BLUEROV_FRAME
  *  VECTORED_FRAME
+ *  VECTORED6DOF_FRAME
  */
 
 // uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)
diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index 32da20cc0b..6dd6d7efcd 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -92,7 +92,7 @@ NOINLINE void Sub::send_heartbeat(mavlink_channel_t chan)
         MAV_TYPE_ROCKET,
 #elif (FRAME_CONFIG == COAX_FRAME)  //because mavlink did not define a singlecopter, we use a rocket
         MAV_TYPE_ROCKET,
-#elif (FRAME_CONFIG == BLUEROV_FRAME || FRAME_CONFIG == VECTORED_FRAME)
+#elif (FRAME_CONFIG == BLUEROV_FRAME || FRAME_CONFIG == VECTORED_FRAME || FRAME_CONFIG == VECTORED6DOF_FRAME)
         MAV_TYPE_HEXAROTOR,
 #else
   #error Unrecognised frame type
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 3901f4f60a..4717503a39 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -997,7 +997,7 @@ const AP_Param::Info Sub::var_info[] = {
     // @Path: ../libraries/AP_Motors/AP_MotorsTri.cpp
     GOBJECT(motors, "MOT_",           AP_MotorsTri),
 
-#elif (FRAME_CONFIG == VECTORED_FRAME || FRAME_CONFIG == BLUEROV_FRAME)
+#elif (FRAME_CONFIG == VECTORED_FRAME || FRAME_CONFIG == BLUEROV_FRAME || FRAME_CONFIG == VECTORED6DOF_FRAME)
 	// @Group: MOT_
 	// @Path: ../libraries/AP_Motors/AP_Motors6DOF.cpp
 	GOBJECT(motors, "MOT_",         AP_Motors6DOF),
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 77bababb85..92b7af63ef 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -312,6 +312,9 @@ private:
  #define MOTOR_CLASS AP_MotorsBlueROV6DOF
 #elif FRAME_CONFIG == VECTORED_FRAME
  #define MOTOR_CLASS AP_MotorsVectoredROV
+#elif FRAME_CONFIG == VECTORED6DOF_FRAME
+ #define MOTOR_CLASS AP_MotorsVectored6DOF
+
 #else
  #error Unrecognised frame type
 #endif
diff --git a/ArduSub/config.h b/ArduSub/config.h
index 4618f36744..c47e994bf7 100644
--- a/ArduSub/config.h
+++ b/ArduSub/config.h
@@ -63,13 +63,15 @@
 // FRAME_CONFIG
 //
 #ifndef FRAME_CONFIG
- # define FRAME_CONFIG   BLUEROV_FRAME
+ # define FRAME_CONFIG   VECTORED6DOF_FRAME
 #endif
 
 #if FRAME_CONFIG == BLUEROV_FRAME
  # define FRAME_CONFIG_STRING "ROV_BLUEROV_FRAME"
 #elif FRAME_CONFIG == VECTORED_FRAME
  # define FRAME_CONFIG_STRING "ROV_VECTORED_FRAME"
+#elif FRAME_CONFIG == VECTORED6DOF_FRAME
+ # define FRAME_CONFIG_STRING "ROV_VECTORED6DOF_FRAME"
 #else
  # define FRAME_CONFIG_STRING "UNKNOWN"
 #endif
diff --git a/ArduSub/defines.h b/ArduSub/defines.h
index c88ee3e5a1..4479699eab 100644
--- a/ArduSub/defines.h
+++ b/ArduSub/defines.h
@@ -81,6 +81,7 @@ enum aux_sw_func {
 #define COAX_FRAME 9
 #define BLUEROV_FRAME 10
 #define VECTORED_FRAME 11
+#define VECTORED6DOF_FRAME 12
 
 // HIL enumerations
 #define HIL_MODE_DISABLED               0