From 54fa879116e7fb845e62c1b10d52eceaeb920a56 Mon Sep 17 00:00:00 2001
From: Rustom Jehangir <rustyj110@gmail.com>
Date: Fri, 1 Jan 2016 15:31:18 -0800
Subject: [PATCH] Sub: Added frame type BLUEROV to configure use with the new
 AP_MotorsBlueROV class.

---
 ArduSub/APM_Config.h    | 2 +-
 ArduSub/Copter.h        | 2 ++
 ArduSub/GCS_Mavlink.cpp | 2 ++
 ArduSub/config.h        | 2 ++
 ArduSub/defines.h       | 1 +
 5 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/ArduSub/APM_Config.h b/ArduSub/APM_Config.h
index 4b5dddc7fb..e6a4fffebb 100644
--- a/ArduSub/APM_Config.h
+++ b/ArduSub/APM_Config.h
@@ -5,7 +5,7 @@
 // If you used to define your CONFIG_APM_HARDWARE setting here, it is no longer
 // valid! You should switch to using a HAL_BOARD flag in your local config.mk.
 
-//#define FRAME_CONFIG QUAD_FRAME
+#define FRAME_CONFIG BLUEROV
 /*  options:
  *  QUAD_FRAME
  *  TRI_FRAME
diff --git a/ArduSub/Copter.h b/ArduSub/Copter.h
index 90ccce8691..eb15a6aa53 100644
--- a/ArduSub/Copter.h
+++ b/ArduSub/Copter.h
@@ -311,6 +311,8 @@ private:
  #define MOTOR_CLASS AP_MotorsSingle
 #elif FRAME_CONFIG == COAX_FRAME
  #define MOTOR_CLASS AP_MotorsCoax
+#elif FRAME_CONFIG == BLUEROV
+ #define MOTOR_CLASS AP_MotorsBlueROV
 #else
  #error Unrecognised frame type
 #endif
diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index 0acde9dbed..84d1e2a4b8 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -92,6 +92,8 @@ NOINLINE void Copter::send_heartbeat(mavlink_channel_t chan)
         MAV_TYPE_ROCKET,
 #elif (FRAME_CONFIG == COAX_FRAME)  //because mavlink did not define a singlecopter, we use a rocket
         MAV_TYPE_ROCKET,
+#elif (FRAME_CONFIG == BLUEROV)
+        MAV_TYPE_SUBMARINE,
 #else
   #error Unrecognised frame type
 #endif
diff --git a/ArduSub/config.h b/ArduSub/config.h
index 9d76f8c36d..71a253d5c8 100644
--- a/ArduSub/config.h
+++ b/ArduSub/config.h
@@ -88,6 +88,8 @@
  # define FRAME_CONFIG_STRING "SINGLE"
 #elif FRAME_CONFIG == COAX_FRAME
  # define FRAME_CONFIG_STRING "COAX"
+#elif FRAME_CONFIG == BLUEROV
+ # define FRAME_CONFIG_STRING "BLUEROV"
 #else
  # define FRAME_CONFIG_STRING "UNKNOWN"
 #endif
diff --git a/ArduSub/defines.h b/ArduSub/defines.h
index 2f6deb03f8..49a3e5ba30 100644
--- a/ArduSub/defines.h
+++ b/ArduSub/defines.h
@@ -79,6 +79,7 @@ enum aux_sw_func {
 #define OCTA_QUAD_FRAME 7
 #define SINGLE_FRAME 8
 #define COAX_FRAME 9
+#define BLUEROV 10
 
 // HIL enumerations
 #define HIL_MODE_DISABLED               0