From cb687a6fffccbd986facaf3d856978a96b1f1215 Mon Sep 17 00:00:00 2001
From: Mark Whitehorn <kd0aij@gmail.com>
Date: Thu, 5 Nov 2020 13:00:12 -0700
Subject: [PATCH] Copter: move get_frame_string to Motors class

---
 ArduCopter/Copter.h        |  1 +
 ArduCopter/GCS_Copter.cpp  |  2 +-
 ArduCopter/GCS_Mavlink.cpp |  2 +-
 ArduCopter/Log.cpp         |  2 +-
 ArduCopter/system.cpp      | 30 ++++++++++++++++++++++++++++++
 5 files changed, 34 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 0a2c539cae..976c0664b7 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -863,6 +863,7 @@ private:
     bool ekf_alt_ok() const;
     void update_auto_armed();
     bool should_log(uint32_t mask);
+    MAV_TYPE get_frame_mav_type();
     const char* get_frame_string() const;
     void allocate_motors(void);
     bool is_tradheli() const;
diff --git a/ArduCopter/GCS_Copter.cpp b/ArduCopter/GCS_Copter.cpp
index 8fb9bfcb18..9657a94961 100644
--- a/ArduCopter/GCS_Copter.cpp
+++ b/ArduCopter/GCS_Copter.cpp
@@ -9,7 +9,7 @@ uint8_t GCS_Copter::sysid_this_mav() const
 
 const char* GCS_Copter::frame_string() const
 {
-    return copter.get_frame_string();
+    return copter.motors->get_frame_string();
 }
 
 bool GCS_Copter::simple_input_active() const
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index b26533aef0..faf22e0d5e 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -548,7 +548,7 @@ bool GCS_MAVLINK_Copter::params_ready() const
 void GCS_MAVLINK_Copter::send_banner()
 {
     GCS_MAVLINK::send_banner();
-    send_text(MAV_SEVERITY_INFO, "Frame: %s", copter.get_frame_string());
+    send_text(MAV_SEVERITY_INFO, "Frame: %s", copter.motors->get_frame_string());
 }
 
 // a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp
index 980e85ab5d..3eb4c7227c 100644
--- a/ArduCopter/Log.cpp
+++ b/ArduCopter/Log.cpp
@@ -617,7 +617,7 @@ const struct LogStructure Copter::log_structure[] = {
 void Copter::Log_Write_Vehicle_Startup_Messages()
 {
     // only 200(?) bytes are guaranteed by AP_Logger
-    logger.Write_MessageF("Frame: %s", get_frame_string());
+    logger.Write_MessageF("Frame: %s, Type: %s", motors->get_frame_string(), motors->get_type_string());
     logger.Write_Mode((uint8_t)control_mode, control_mode_reason);
     ahrs.Log_Write_Home_And_Origin();
     gps.Write_AP_Logger_Log_Startup_messages();
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 7023c62c72..c54887c411 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -484,6 +484,36 @@ const char* Copter::get_frame_string() const
         default:
             return "UNKNOWN";
     }
+// return MAV_TYPE corresponding to frame class
+MAV_TYPE Copter::get_frame_mav_type()
+{
+    switch ((AP_Motors::motor_frame_class)g2.frame_class.get()) {
+        case AP_Motors::MOTOR_FRAME_QUAD:
+        case AP_Motors::MOTOR_FRAME_UNDEFINED:
+            return MAV_TYPE_QUADROTOR;
+        case AP_Motors::MOTOR_FRAME_HEXA:
+        case AP_Motors::MOTOR_FRAME_Y6:
+            return MAV_TYPE_HEXAROTOR;
+        case AP_Motors::MOTOR_FRAME_OCTA:
+        case AP_Motors::MOTOR_FRAME_OCTAQUAD:
+            return MAV_TYPE_OCTOROTOR;
+        case AP_Motors::MOTOR_FRAME_HELI:
+        case AP_Motors::MOTOR_FRAME_HELI_DUAL:
+        case AP_Motors::MOTOR_FRAME_HELI_QUAD:
+            return MAV_TYPE_HELICOPTER;
+        case AP_Motors::MOTOR_FRAME_TRI:
+            return MAV_TYPE_TRICOPTER;
+        case AP_Motors::MOTOR_FRAME_SINGLE:
+        case AP_Motors::MOTOR_FRAME_COAX:
+        case AP_Motors::MOTOR_FRAME_TAILSITTER:
+            return MAV_TYPE_COAXIAL;
+        case AP_Motors::MOTOR_FRAME_DODECAHEXA:
+            return MAV_TYPE_DODECAROTOR;
+        case AP_Motors::MOTOR_FRAME_DECA:
+            return MAV_TYPE_DECAROTOR;
+    }
+    // unknown frame so return generic
+    return MAV_TYPE_GENERIC;
 }
 
 /*