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Sub: Add support for Vectored 6DOF ROV

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Sub: Various defines for vectored-6dof configuration

Sub: fix compile errors for vector6dof rov

More fixes
This commit is contained in:
David Ingraham 2016-02-20 20:11:54 -07:00 committed by Andrew Tridgell
parent 6cf24c2770
commit 473016b41d
6 changed files with 10 additions and 3 deletions
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1
ArduSub/APM_Config.h
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@ -9,6 +9,7 @@
/* options: /* options:
* BLUEROV_FRAME * BLUEROV_FRAME
* VECTORED_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) // uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)

2
ArduSub/GCS_Mavlink.cpp
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@ -92,7 +92,7 @@ NOINLINE void Sub::send_heartbeat(mavlink_channel_t chan)
MAV_TYPE_ROCKET, MAV_TYPE_ROCKET,
#elif (FRAME_CONFIG == COAX_FRAME) //because mavlink did not define a singlecopter, we use a rocket #elif (FRAME_CONFIG == COAX_FRAME) //because mavlink did not define a singlecopter, we use a rocket
MAV_TYPE_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, MAV_TYPE_HEXAROTOR,
#else #else
#error Unrecognised frame type #error Unrecognised frame type

2
ArduSub/Parameters.cpp
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@ -997,7 +997,7 @@ const AP_Param::Info Sub::var_info[] = {
// @Path: ../libraries/AP_Motors/AP_MotorsTri.cpp // @Path: ../libraries/AP_Motors/AP_MotorsTri.cpp
GOBJECT(motors, "MOT_", AP_MotorsTri), 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_ // @Group: MOT_
// @Path: ../libraries/AP_Motors/AP_Motors6DOF.cpp // @Path: ../libraries/AP_Motors/AP_Motors6DOF.cpp
GOBJECT(motors, "MOT_", AP_Motors6DOF), GOBJECT(motors, "MOT_", AP_Motors6DOF),

3
ArduSub/Sub.h
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@ -312,6 +312,9 @@ private:
#define MOTOR_CLASS AP_MotorsBlueROV6DOF #define MOTOR_CLASS AP_MotorsBlueROV6DOF
#elif FRAME_CONFIG == VECTORED_FRAME #elif FRAME_CONFIG == VECTORED_FRAME
#define MOTOR_CLASS AP_MotorsVectoredROV #define MOTOR_CLASS AP_MotorsVectoredROV
#elif FRAME_CONFIG == VECTORED6DOF_FRAME
#define MOTOR_CLASS AP_MotorsVectored6DOF
#else #else
#error Unrecognised frame type #error Unrecognised frame type
#endif #endif

4
ArduSub/config.h
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@ -63,13 +63,15 @@
// FRAME_CONFIG // FRAME_CONFIG
// //
#ifndef FRAME_CONFIG #ifndef FRAME_CONFIG
# define FRAME_CONFIG BLUEROV_FRAME # define FRAME_CONFIG VECTORED6DOF_FRAME
#endif #endif
#if FRAME_CONFIG == BLUEROV_FRAME #if FRAME_CONFIG == BLUEROV_FRAME
# define FRAME_CONFIG_STRING "ROV_BLUEROV_FRAME" # define FRAME_CONFIG_STRING "ROV_BLUEROV_FRAME"
#elif FRAME_CONFIG == VECTORED_FRAME #elif FRAME_CONFIG == VECTORED_FRAME
# define FRAME_CONFIG_STRING "ROV_VECTORED_FRAME" # define FRAME_CONFIG_STRING "ROV_VECTORED_FRAME"
#elif FRAME_CONFIG == VECTORED6DOF_FRAME
# define FRAME_CONFIG_STRING "ROV_VECTORED6DOF_FRAME"
#else #else
# define FRAME_CONFIG_STRING "UNKNOWN" # define FRAME_CONFIG_STRING "UNKNOWN"
#endif #endif

1
ArduSub/defines.h
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@ -81,6 +81,7 @@ enum aux_sw_func {
#define COAX_FRAME 9 #define COAX_FRAME 9
#define BLUEROV_FRAME 10 #define BLUEROV_FRAME 10
#define VECTORED_FRAME 11 #define VECTORED_FRAME 11
#define VECTORED6DOF_FRAME 12
// HIL enumerations // HIL enumerations
#define HIL_MODE_DISABLED 0 #define HIL_MODE_DISABLED 0