From aec7091faa5f78c97aa09d4dd5069c2b9d79fb45 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 29 Oct 2016 18:42:22 +1100
Subject: [PATCH] autotest: Add support for Sub in sim_vehicle.py

---
 Tools/autotest/default_params/sub.parm | 62 ++++++++++++++++++++++++++
 Tools/autotest/sim_vehicle.py          | 11 ++++-
 Tools/scripts/build_ci.sh              |  2 +-
 3 files changed, 73 insertions(+), 2 deletions(-)
 create mode 100644 Tools/autotest/default_params/sub.parm

diff --git a/Tools/autotest/default_params/sub.parm b/Tools/autotest/default_params/sub.parm
new file mode 100644
index 0000000000..dfcd39abbc
--- /dev/null
+++ b/Tools/autotest/default_params/sub.parm
@@ -0,0 +1,62 @@
+BTN0_FUNCTION    0
+BTN10_SFUNCTION  0
+BTN10_FUNCTION   22
+BTN10_SFUNCTION  0
+BTN11_FUNCTION   42
+BTN11_SFUNCTION  47
+BTN12_FUNCTION   43
+BTN12_SFUNCTION  46
+BTN13_FUNCTION   33
+BTN13_SFUNCTION  45
+BTN14_FUNCTION   32
+BTN14_SFUNCTION  44
+BTN15_FUNCTION   0
+BTN15_SFUNCTION  0
+BTN1_FUNCTION    6
+BTN1_SFUNCTION   0
+BTN2_FUNCTION    8
+BTN2_SFUNCTION   0
+BTN3_FUNCTION    7
+BTN3_SFUNCTION   0
+BTN4_FUNCTION    4
+BTN4_SFUNCTION   0
+BTN5_FUNCTION    1
+BTN5_SFUNCTION   0
+BTN6_FUNCTION    3
+BTN6_SFUNCTION   0
+BTN7_FUNCTION    21
+BTN7_SFUNCTION   0
+BTN8_FUNCTION    48
+BTN8_SFUNCTION   0
+BTN9_FUNCTION    23
+BTN9_SFUNCTION   0
+COMPASS_OFS_X   5
+COMPASS_OFS_Y   13
+COMPASS_OFS_Z   -18
+COMPASS_OFS2_X   5
+COMPASS_OFS2_Y   13
+COMPASS_OFS2_Z   -18
+INS_ACCOFFS_X   0.001
+INS_ACCOFFS_Y   0.001
+INS_ACCOFFS_Z   0.001
+INS_ACCSCAL_X   1.001
+INS_ACCSCAL_Y   1.001
+INS_ACCSCAL_Z   1.001
+INS_ACC2OFFS_X   0.001
+INS_ACC2OFFS_Y   0.001
+INS_ACC2OFFS_Z   0.001
+INS_ACC2SCAL_X   1.001
+INS_ACC2SCAL_Y   1.001
+INS_ACC2SCAL_Z   1.001
+INS_ACC3OFFS_X   0.000
+INS_ACC3OFFS_Y   0.000
+INS_ACC3OFFS_Z   0.000
+INS_ACC3SCAL_X   1.000
+INS_ACC3SCAL_Y   1.000
+INS_ACC3SCAL_Z   1.000
+FLTMODE1         19
+FLTMODE2         0
+FLTMODE3         2
+FLTMODE4         0
+FLTMODE5         0
+FLTMODE6         0
\ No newline at end of file
diff --git a/Tools/autotest/sim_vehicle.py b/Tools/autotest/sim_vehicle.py
index 5d517acc43..5b2384c4c4 100755
--- a/Tools/autotest/sim_vehicle.py
+++ b/Tools/autotest/sim_vehicle.py
@@ -150,6 +150,7 @@ def kill_tasks():
             'lt-JSBSim',
             'ArduPlane.elf',
             'ArduCopter.elf',
+            'ArduSub.elf',
             'APMrover2.elf',
             'AntennaTracker.elf',
             'JSBSIm.exe',
@@ -352,6 +353,12 @@ _options_for_frame = {
         "waf_target": "bin/ardurover",
         "default_params_filename": "default_params/rover-skid.parm",
     },
+    # SUB
+    "sub": {
+        "model": "vectored",
+        "waf_target": "bin/ardusub",
+        "default_params_filename": "default_params/sub.parm",
+    },
     # SIM
     "gazebo-iris": {
         "waf_target": "bin/arducopter",
@@ -376,6 +383,7 @@ _options_for_frame = {
 _default_waf_target = {
     "ArduPlane": "bin/arduplane",
     "ArduCopter": "bin/arducopter",
+    "ArduSub": "bin/ardusub",
     "APMrover2": "bin/ardurover",
     "AntennaTracker": "bin/antennatracker",
 }
@@ -723,7 +731,7 @@ parser = CompatOptionParser("sim_vehicle.py",
                "you are simulating, for example, start in the ArduPlane directory to " \
                "simulate ArduPlane")
 
-parser.add_option("-v", "--vehicle", type='string', default=None, help="vehicle type (ArduPlane, ArduCopter or APMrover2)")
+parser.add_option("-v", "--vehicle", type='string', default=None, help="vehicle type (ArduPlane, ArduCopter, APMrover2 or ArduSub)")
 parser.add_option("-f", "--frame", type='string', default=None, help="""set aircraft frame type
                      for copters can choose +, X, quad or octa
                      for planes can choose elevon or vtail""")
@@ -818,6 +826,7 @@ default_frame_for_vehicle = {
     "APMrover2": "rover",
     "ArduPlane": "jsbsim",
     "ArduCopter": "quad",
+    "ArduSub": "vectored",
     "AntennaTracker": "tracker",
 }
 
diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index d2eab59588..13dc5b38eb 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -68,7 +68,7 @@ for t in $CI_BUILD_TARGET; do
     # only do make-based builds for GCC when target is PX4 or when launched by a scheduled job
     if [[ "$cxx_compiler" != "clang++" && ( $t == "px4"* || -n ${CI_CRON_JOB+1} ) ]]; then
         echo "Starting make based build for target ${t}..."
-        for v in "ArduPlane" "ArduCopter" "APMrover2" "AntennaTracker"; do
+        for v in "ArduPlane" "ArduCopter" "APMrover2" "ArduSub" "AntennaTracker"; do
             echo "Building $v for ${t}..."
 
             pushd $v