Sub: Create new Vectored 90DEG (6DOF) class

ArduSub/APM_Config.h

@@ -11,6 +11,7 @@
  *  VECTORED_FRAME
  *  VECTORED6DOF_FRAME
  *  SIMPLEROV_FRAME
+ *  VECTORED90_FRAME
  */
 
 // uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)

ArduSub/Parameters.cpp

@@ -897,7 +897,7 @@ const AP_Param::Info Sub::var_info[] = {
     GOBJECT(rally,      "RALLY_",   AP_Rally),
 #endif
 
-//#if (FRAME_CONFIG == VECTORED_FRAME || FRAME_CONFIG == BLUEROV_FRAME || FRAME_CONFIG == VECTORED6DOF_FRAME || FRAME_CONFIG == SIMPLEROV )
+//#if (FRAME_CONFIG == VECTORED_FRAME || FRAME_CONFIG == BLUEROV_FRAME || FRAME_CONFIG == VECTORED6DOF_FRAME || FRAME_CONFIG == SIMPLEROV || FRAME_CONFIG == VECTORED90_FRAME)
 	// @Group: MOT_
 	// @Path: ../libraries/AP_Motors/AP_Motors6DOF.cpp
 	GOBJECT(motors, "MOT_",         AP_Motors6DOF),

ArduSub/Sub.h

@@ -318,6 +318,8 @@ private:
  #define MOTOR_CLASS AP_MotorsVectored6DOF
 #elif FRAME_CONFIG == SIMPLEROV_FRAME
  #define MOTOR_CLASS AP_MotorsSimpleROV
+#elif FRAME_CONFIG == VECTORED90_FRAME
+ #define MOTOR_CLASS AP_MotorsVectored90
 
 #else
  #error Unrecognised frame type

ArduSub/config.h

@@ -69,6 +69,8 @@
  # define FRAME_CONFIG_STRING "ROV_VECTORED6DOF_FRAME"
 #elif FRAME_CONFIG == SIMPLEROV_FRAME
  # define FRAME_CONFIG_STRING "ROV_SIMPLEROV_FRAME"
+#elif FRAME_CONFIG == VECTORED90_FRAME
+# define FRAME_CONFIG_STRING "ROV_VECTORED90_FRAME"
 #else
  # define FRAME_CONFIG_STRING "UNKNOWN"
 #endif

ArduSub/defines.h

@@ -89,6 +89,7 @@ enum aux_sw_func {
 #define VECTORED_FRAME 11
 #define VECTORED6DOF_FRAME 12
 #define SIMPLEROV_FRAME 13
+#define VECTORED90_FRAME 14
 
 // HIL enumerations
 #define HIL_MODE_DISABLED               0

ArduSub/wscript

@@ -37,7 +37,7 @@ def build(bld):
     )
 
     frames = (
-        'bluerov','vectored','vectored6DOF','simplerov'
+        'bluerov','vectored','vectored6DOF','simplerov','vectored90'
     )
 
     for frame in frames: