From a549225e602f8c7a941d13525599a6ab9d2127c9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 22 Apr 2016 10:28:06 +1000
Subject: [PATCH] Plane: support Y6 frame class in quadplane

---
 ArduPlane/quadplane.cpp | 8 ++++++--
 ArduPlane/quadplane.h   | 1 +
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 0c37d477d7..e077a87702 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -220,7 +220,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
     // @Param: FRAME_CLASS
     // @DisplayName: Frame Class
     // @Description: Controls major frame class for multicopter component
-    // @Values: 0:Quad, 1:Hexa, 2:Octa, 3:OctaQuad
+    // @Values: 0:Quad, 1:Hexa, 2:Octa, 3:OctaQuad, 4:Y6
     // @User: Standard
     AP_GROUPINFO("FRAME_CLASS", 30, QuadPlane, frame_class, 0),
 
@@ -323,7 +323,11 @@ bool QuadPlane::setup(void)
         break;
     case FRAME_CLASS_OCTAQUAD:
         setup_default_channels(8);
-         motors = new AP_MotorsOctaQuad(plane.scheduler.get_loop_rate_hz());
+        motors = new AP_MotorsOctaQuad(plane.scheduler.get_loop_rate_hz());
+        break;
+    case FRAME_CLASS_Y6:
+        setup_default_channels(7);
+        motors = new AP_MotorsY6(plane.scheduler.get_loop_rate_hz());
         break;
     default:
         hal.console->printf("Unknown frame class %u\n", (unsigned)frame_class.get());
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 8ac3ee2d96..f0c8525e60 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -239,6 +239,7 @@ private:
         FRAME_CLASS_HEXA=1,
         FRAME_CLASS_OCTA=2,
         FRAME_CLASS_OCTAQUAD=3,
+        FRAME_CLASS_Y6=4,
     };
 
     struct {