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Sub: Separated motor files and frame types

This commit is contained in:
Rustom Jehangir 2016-02-03 22:18:54 -08:00 committed by Andrew Tridgell
parent 321e92cf4c
commit 771ce2f607
5 changed files with 14 additions and 25 deletions
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4
ArduSub/APM_Config.h
View File

@ -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 BLUEROV
#define FRAME_CONFIG VECTORED_FRAME
/* options:
* QUAD_FRAME
* TRI_FRAME
@ -16,6 +16,8 @@
* HELI_FRAME
* SINGLE_FRAME
* COAX_FRAME
* BLUEROV_FRAME
* VECTORED_FRAME
*/
// uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)

5
ArduSub/GCS_Mavlink.cpp
View File

@ -92,11 +92,8 @@ 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,
<<<<<<< 6dafedb2d1ad5061d859a9c319fa4b69b4ac5dd9
#elif (FRAME_CONFIG == BLUEROV)
#elif (FRAME_CONFIG == BLUEROV_FRAME || FRAME_CONFIG == VECTORED_FRAME)
MAV_TYPE_SUBMARINE,
=======
>>>>>>> Changed to ArduCopter as the base code.
#else
#error Unrecognised frame type
#endif

15
ArduSub/Sub.h
View File

@ -162,11 +162,8 @@ private:
RC_Channel *channel_pitch;
RC_Channel *channel_throttle;
RC_Channel *channel_yaw;
<<<<<<< 6dafedb2d1ad5061d859a9c319fa4b69b4ac5dd9
RC_Channel *channel_forward;
RC_Channel *channel_strafe;
=======
>>>>>>> Changed to ArduCopter as the base code.
// Dataflash
DataFlash_Class DataFlash{FIRMWARE_STRING};
@ -316,11 +313,10 @@ private:
#define MOTOR_CLASS AP_MotorsSingle
#elif FRAME_CONFIG == COAX_FRAME
#define MOTOR_CLASS AP_MotorsCoax
<<<<<<< 6dafedb2d1ad5061d859a9c319fa4b69b4ac5dd9
#elif FRAME_CONFIG == BLUEROV
#define MOTOR_CLASS AP_MotorsBlueROV
=======
>>>>>>> Changed to ArduCopter as the base code.
#elif FRAME_CONFIG == BLUEROV_FRAME
#define MOTOR_CLASS AP_MotorsBlueROV6DOF
#elif FRAME_CONFIG == VECTORED_FRAME
#define MOTOR_CLASS AP_MotorsVectoredROV
#else
#error Unrecognised frame type
#endif
@ -818,11 +814,8 @@ private:
void sport_run();
bool stabilize_init(bool ignore_checks);
void stabilize_run();
<<<<<<< 6dafedb2d1ad5061d859a9c319fa4b69b4ac5dd9
bool rov_init(bool ignore_checks);
void rov_run();
=======
>>>>>>> Changed to ArduCopter as the base code.
void crash_check();
void parachute_check();
void parachute_release();

9
ArduSub/config.h
View File

@ -88,11 +88,10 @@
# define FRAME_CONFIG_STRING "SINGLE"
#elif FRAME_CONFIG == COAX_FRAME
# define FRAME_CONFIG_STRING "COAX"
<<<<<<< 6dafedb2d1ad5061d859a9c319fa4b69b4ac5dd9
#elif FRAME_CONFIG == BLUEROV
# define FRAME_CONFIG_STRING "BLUEROV"
=======
>>>>>>> Changed to ArduCopter as the base code.
#elif FRAME_CONFIG == BLUEROV_FRAME
# define FRAME_CONFIG_STRING "ROV_BLUEROV_FRAME"
#elif FRAME_CONFIG == VECTORED_FRAME
# define FRAME_CONFIG_STRING "ROV_VECTORED_FRAME"
#else
# define FRAME_CONFIG_STRING "UNKNOWN"
#endif

6
ArduSub/defines.h
View File

@ -79,10 +79,8 @@ enum aux_sw_func {
#define OCTA_QUAD_FRAME 7
#define SINGLE_FRAME 8
#define COAX_FRAME 9
<<<<<<< 6dafedb2d1ad5061d859a9c319fa4b69b4ac5dd9
#define BLUEROV 10
=======
>>>>>>> Changed to ArduCopter as the base code.
#define BLUEROV_FRAME 10
#define VECTORED_FRAME 11
// HIL enumerations
#define HIL_MODE_DISABLED 0