Copter: added HELI_QUAD

ArduCopter/system.cpp

@@ -439,7 +439,8 @@ bool Copter::should_log(uint32_t mask)
 void Copter::set_default_frame_class()
 {
     if (FRAME_CONFIG == HELI_FRAME &&
-        g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_DUAL) {
+        g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_DUAL &&
+        g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_QUAD) {
         g2.frame_class.set(AP_Motors::MOTOR_FRAME_HELI);
     }
 }
@@ -459,6 +460,7 @@ uint8_t Copter::get_frame_mav_type()
             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;
@@ -491,6 +493,8 @@ const char* Copter::get_frame_string()
             return "HELI";
         case AP_Motors::MOTOR_FRAME_HELI_DUAL:
             return "HELI_DUAL";
+        case AP_Motors::MOTOR_FRAME_HELI_QUAD:
+            return "HELI_QUAD";
         case AP_Motors::MOTOR_FRAME_TRI:
             return "TRI";
         case AP_Motors::MOTOR_FRAME_SINGLE:
@@ -547,6 +551,12 @@ void Copter::allocate_motors(void)
             motors_var_info = AP_MotorsHeli_Dual::var_info;
             AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
             break;
+
+        case AP_Motors::MOTOR_FRAME_HELI_QUAD:
+            motors = new AP_MotorsHeli_Quad(copter.scheduler.get_loop_rate_hz());
+            motors_var_info = AP_MotorsHeli_Quad::var_info;
+            AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
+            break;
             
         case AP_Motors::MOTOR_FRAME_HELI:
         default: