Rover: add FRAME_CLASS to differentiate boats from rovers

APMrover2/Parameters.cpp

@@ -535,6 +535,13 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("RTL_SPEED", 15, ParametersG2, rtl_speed, 0.0f),
 
+    // @Param: FRAME_CLASS
+    // @DisplayName: Frame Class
+    // @Description: Frame Class
+    // @Values: 0:Undefined,1:Rover,2:Boat
+    // @User: Standard
+    AP_GROUPINFO("FRAME_CLASS", 16, ParametersG2, frame_class, 1),
+
     AP_GROUPEND
 };
 

APMrover2/Parameters.h

@@ -326,6 +326,9 @@ public:
     // default speeds for auto, rtl
     AP_Float wp_speed;
     AP_Float rtl_speed;
+
+    // frame class for vehicle
+    AP_Int8 frame_class;
 };
 
 extern const AP_Param::Info var_info[];

APMrover2/Rover.h

@@ -572,6 +572,7 @@ private:
     bool arm_motors(AP_Arming::ArmingMethod method);
     bool disarm_motors(void);
     void smart_rtl_update();
+    bool is_boat() const;
 
     // test.cpp
     void print_hit_enter();

APMrover2/defines.h

@@ -139,5 +139,12 @@ enum pilot_steer_type_t {
     PILOT_STEER_TYPE_DIR_UNCHANGED_WHEN_REVERSING = 3,
 };
 
+// frame class enum used for FRAME_CLASS parameter
+enum frame_class {
+    FRAME_UNDEFINED = 0,
+    FRAME_ROVER = 1,
+    FRAME_BOAT = 2
+};
+
 #define AUX_SWITCH_PWM_TRIGGER_HIGH 1800   // pwm value above which the ch7 or ch8 option will be invoked
 #define AUX_SWITCH_PWM_TRIGGER_LOW  1200   // pwm value below which the ch7 or ch8 option will be disabled

APMrover2/system.cpp

@@ -367,3 +367,10 @@ void Rover::smart_rtl_update()
     const bool save_position = hal.util->get_soft_armed() && (control_mode != &mode_smartrtl);
     mode_smartrtl.save_position(save_position);
 }
+
+// returns true if vehicle is a boat
+// this affects whether the vehicle tries to maintain position after reaching waypoints
+bool Rover::is_boat() const
+{
+    return ((enum frame_class)g2.frame_class.get() == FRAME_BOAT);
+}