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

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jaxxzer 2016-05-18 01:56:30 -04:00 committed by Andrew Tridgell
parent 0a6fc0cc43
commit e016e906f5
6 changed files with 8 additions and 2 deletions
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1
ArduSub/APM_Config.h
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@ -11,6 +11,7 @@
* VECTORED_FRAME * VECTORED_FRAME
* VECTORED6DOF_FRAME * VECTORED6DOF_FRAME
* SIMPLEROV_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) // uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)

2
ArduSub/Parameters.cpp
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@ -897,7 +897,7 @@ const AP_Param::Info Sub::var_info[] = {
GOBJECT(rally, "RALLY_", AP_Rally), GOBJECT(rally, "RALLY_", AP_Rally),
#endif #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_ // @Group: MOT_
// @Path: ../libraries/AP_Motors/AP_Motors6DOF.cpp // @Path: ../libraries/AP_Motors/AP_Motors6DOF.cpp
GOBJECT(motors, "MOT_", AP_Motors6DOF), GOBJECT(motors, "MOT_", AP_Motors6DOF),

2
ArduSub/Sub.h
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@ -318,6 +318,8 @@ private:
#define MOTOR_CLASS AP_MotorsVectored6DOF #define MOTOR_CLASS AP_MotorsVectored6DOF
#elif FRAME_CONFIG == SIMPLEROV_FRAME #elif FRAME_CONFIG == SIMPLEROV_FRAME
#define MOTOR_CLASS AP_MotorsSimpleROV #define MOTOR_CLASS AP_MotorsSimpleROV
#elif FRAME_CONFIG == VECTORED90_FRAME
#define MOTOR_CLASS AP_MotorsVectored90
#else #else
#error Unrecognised frame type #error Unrecognised frame type

2
ArduSub/config.h
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@ -69,6 +69,8 @@
# define FRAME_CONFIG_STRING "ROV_VECTORED6DOF_FRAME" # define FRAME_CONFIG_STRING "ROV_VECTORED6DOF_FRAME"
#elif FRAME_CONFIG == SIMPLEROV_FRAME #elif FRAME_CONFIG == SIMPLEROV_FRAME
# define FRAME_CONFIG_STRING "ROV_SIMPLEROV_FRAME" # define FRAME_CONFIG_STRING "ROV_SIMPLEROV_FRAME"
#elif FRAME_CONFIG == VECTORED90_FRAME
# define FRAME_CONFIG_STRING "ROV_VECTORED90_FRAME"
#else #else
# define FRAME_CONFIG_STRING "UNKNOWN" # define FRAME_CONFIG_STRING "UNKNOWN"
#endif #endif

1
ArduSub/defines.h
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@ -89,6 +89,7 @@ enum aux_sw_func {
#define VECTORED_FRAME 11 #define VECTORED_FRAME 11
#define VECTORED6DOF_FRAME 12 #define VECTORED6DOF_FRAME 12
#define SIMPLEROV_FRAME 13 #define SIMPLEROV_FRAME 13
#define VECTORED90_FRAME 14
// HIL enumerations // HIL enumerations
#define HIL_MODE_DISABLED 0 #define HIL_MODE_DISABLED 0

2
ArduSub/wscript
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@ -37,7 +37,7 @@ def build(bld):
) )
frames = ( frames = (
'bluerov','vectored','vectored6DOF','simplerov' 'bluerov','vectored','vectored6DOF','simplerov','vectored90'
) )
for frame in frames: for frame in frames: