Sub: Added frame type BLUEROV to configure use with the new AP_MotorsBlueROV class.

ArduSub/APM_Config.h

@@ -5,7 +5,7 @@
 // If you used to define your CONFIG_APM_HARDWARE setting here, it is no longer
 // valid! You should switch to using a HAL_BOARD flag in your local config.mk.
 
-//#define FRAME_CONFIG QUAD_FRAME
+#define FRAME_CONFIG BLUEROV
 /*  options:
  *  QUAD_FRAME
  *  TRI_FRAME

ArduSub/Copter.h

@@ -311,6 +311,8 @@ private:
  #define MOTOR_CLASS AP_MotorsSingle
 #elif FRAME_CONFIG == COAX_FRAME
  #define MOTOR_CLASS AP_MotorsCoax
+#elif FRAME_CONFIG == BLUEROV
+ #define MOTOR_CLASS AP_MotorsBlueROV
 #else
  #error Unrecognised frame type
 #endif

ArduSub/GCS_Mavlink.cpp

@@ -92,6 +92,8 @@ NOINLINE void Copter::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)
+        MAV_TYPE_SUBMARINE,
 #else
   #error Unrecognised frame type
 #endif

ArduSub/config.h

@@ -88,6 +88,8 @@
  # define FRAME_CONFIG_STRING "SINGLE"
 #elif FRAME_CONFIG == COAX_FRAME
  # define FRAME_CONFIG_STRING "COAX"
+#elif FRAME_CONFIG == BLUEROV
+ # define FRAME_CONFIG_STRING "BLUEROV"
 #else
  # define FRAME_CONFIG_STRING "UNKNOWN"
 #endif

ArduSub/defines.h

@@ -79,6 +79,7 @@ enum aux_sw_func {
 #define OCTA_QUAD_FRAME 7
 #define SINGLE_FRAME 8
 #define COAX_FRAME 9
+#define BLUEROV 10
 
 // HIL enumerations
 #define HIL_MODE_DISABLED               0