Plane: removed separate tricopter quadplane build

can all be done with one build now

ArduPlane/quadplane.cpp

@@ -11,7 +11,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
 
     // @Group: M_
     // @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp
-    AP_SUBGROUPPTR(motors, "M_", 2, QuadPlane, AP_MOTORS_CLASS),
+    AP_SUBGROUPPTR(motors, "M_", 2, QuadPlane, AP_MotorsMulticopter),
 
     // 3 ~ 8 were used by quadplane attitude control PIDs
 
@@ -369,7 +369,8 @@ bool QuadPlane::setup(void)
     }
     float loop_delta_t = 1.0 / plane.scheduler.get_loop_rate_hz();
 
-#if FRAME_CONFIG != TRI_FRAME
+    enum AP_Motors::motor_frame_class motor_class;
+    
     /*
       cope with upgrade from old AP_Motors values for frame_class
      */
@@ -397,7 +398,6 @@ bool QuadPlane::setup(void)
         }
         frame_class.set_and_save(new_value);
     }
-#endif
     
     if (hal.util->available_memory() <
         4096 + sizeof(*motors) + sizeof(*attitude_control) + sizeof(*pos_control) + sizeof(*wp_nav)) {
@@ -405,20 +405,13 @@ bool QuadPlane::setup(void)
         goto failed;
     }
 
-#if FRAME_CONFIG == TRI_FRAME
-    SRV_Channels::set_default_function(CH_5, SRV_Channel::k_motor1);
-    SRV_Channels::set_default_function(CH_6, SRV_Channel::k_motor2);
-    SRV_Channels::set_default_function(CH_8, SRV_Channel::k_motor4);
-    SRV_Channels::set_default_function(CH_11, SRV_Channel::k_motor7);
-    frame_class.set(AP_Motors::MOTOR_FRAME_TRI);
-    motors = new AP_MOTORS_CLASS(plane.scheduler.get_loop_rate_hz());
-#else
     /*
       dynamically allocate the key objects for quadplane. This ensures
       that the objects don't affect the vehicle unless enabled and
       also saves memory when not in use
      */
-    switch ((enum AP_Motors::motor_frame_class)frame_class.get()) {
+    motor_class = (enum AP_Motors::motor_frame_class)frame_class.get();
+    switch (motor_class) {
     case AP_Motors::MOTOR_FRAME_QUAD:
         setup_default_channels(4);
         break;
@@ -432,12 +425,21 @@ bool QuadPlane::setup(void)
     case AP_Motors::MOTOR_FRAME_Y6:
         setup_default_channels(7);
         break;
+    case AP_Motors::MOTOR_FRAME_TRI:
+        SRV_Channels::set_default_function(CH_5, SRV_Channel::k_motor1);
+        SRV_Channels::set_default_function(CH_6, SRV_Channel::k_motor2);
+        SRV_Channels::set_default_function(CH_8, SRV_Channel::k_motor4);
+        SRV_Channels::set_default_function(CH_11, SRV_Channel::k_motor7);
+        break;
     default:
         hal.console->printf("Unknown frame class %u\n", (unsigned)frame_class.get());
         goto failed;
     }
-    motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz());
-#endif // AP_MOTORS_CLASS
+    if (motor_class == AP_Motors::MOTOR_FRAME_TRI) {
+        motors = new AP_MotorsTri(plane.scheduler.get_loop_rate_hz());
+    } else {
+        motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz());
+    }
     const static char *strUnableToAllocate = "Unable to allocate";
     if (!motors) {
         hal.console->printf("%s motors\n", strUnableToAllocate);

ArduPlane/quadplane.h

@@ -8,24 +8,6 @@
 #include <AC_Avoidance/AC_Avoid.h>
 #include <AP_Proximity/AP_Proximity.h>
 
-/*
-  frame types for quadplane build. Most case be set with
-  parameters. Those that can't are listed here and chosen with a build
-  time FRAME_CONFIG parameter
- */
-#define MULTICOPTER_FRAME 1
-#define TRI_FRAME 2
-
-#ifndef FRAME_CONFIG
-# define FRAME_CONFIG MULTICOPTER_FRAME
-#endif
-
-#if FRAME_CONFIG == TRI_FRAME
-#define AP_MOTORS_CLASS AP_MotorsTri
-#else
-#define AP_MOTORS_CLASS AP_MotorsMulticopter
-#endif
-
 /*
   QuadPlane specific functionality
  */
@@ -124,7 +106,7 @@ private:
     AP_Int8 frame_class;
     AP_Int8 frame_type;
     
-    AP_MOTORS_CLASS *motors;
+    AP_MotorsMulticopter *motors;
     AC_AttitudeControl_Multi *attitude_control;
     AC_PosControl *pos_control;
     AC_WPNav *wp_nav;

ArduPlane/wscript

@@ -41,10 +41,3 @@ def build(bld):
         program_groups=['bin', 'plane'],
         use=vehicle + '_libs',
     )
-
-    bld.ap_program(
-        program_name='arduplane-tri',
-        program_groups=['bin', 'plane'],
-        use=vehicle + '_libs',
-        defines=['FRAME_CONFIG=TRI_FRAME'],
-    )