diff --git a/ArduSub/APM_Config.h b/ArduSub/APM_Config.h
index 6019b94abc..0fcfce89b2 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 BLUEROV
+#define FRAME_CONFIG VECTORED_FRAME
 /*  options:
  *  QUAD_FRAME
  *  TRI_FRAME
@@ -16,6 +16,8 @@
  *  HELI_FRAME
  *  SINGLE_FRAME
  *  COAX_FRAME
+ *  BLUEROV_FRAME
+ *  VECTORED_FRAME
  */
 
 // uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)
diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index 827ffe48b1..f693ab93da 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -92,11 +92,8 @@ NOINLINE void Sub::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,
-<<<<<<< 6dafedb2d1ad5061d859a9c319fa4b69b4ac5dd9
-#elif (FRAME_CONFIG == BLUEROV)
+#elif (FRAME_CONFIG == BLUEROV_FRAME || FRAME_CONFIG == VECTORED_FRAME)
         MAV_TYPE_SUBMARINE,
-=======
->>>>>>> Changed to ArduCopter as the base code.
 #else
   #error Unrecognised frame type
 #endif
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index a2fe6c1e83..ac886965c0 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -162,11 +162,8 @@ private:
     RC_Channel *channel_pitch;
     RC_Channel *channel_throttle;
     RC_Channel *channel_yaw;
-<<<<<<< 6dafedb2d1ad5061d859a9c319fa4b69b4ac5dd9
     RC_Channel *channel_forward;
     RC_Channel *channel_strafe;
-=======
->>>>>>> Changed to ArduCopter as the base code.
 
     // Dataflash
     DataFlash_Class DataFlash{FIRMWARE_STRING};
@@ -316,11 +313,10 @@ private:
  #define MOTOR_CLASS AP_MotorsSingle
 #elif FRAME_CONFIG == COAX_FRAME
  #define MOTOR_CLASS AP_MotorsCoax
-<<<<<<< 6dafedb2d1ad5061d859a9c319fa4b69b4ac5dd9
-#elif FRAME_CONFIG == BLUEROV
- #define MOTOR_CLASS AP_MotorsBlueROV
-=======
->>>>>>> Changed to ArduCopter as the base code.
+#elif FRAME_CONFIG == BLUEROV_FRAME
+ #define MOTOR_CLASS AP_MotorsBlueROV6DOF
+#elif FRAME_CONFIG == VECTORED_FRAME
+ #define MOTOR_CLASS AP_MotorsVectoredROV
 #else
  #error Unrecognised frame type
 #endif
@@ -818,11 +814,8 @@ private:
     void sport_run();
     bool stabilize_init(bool ignore_checks);
     void stabilize_run();
-<<<<<<< 6dafedb2d1ad5061d859a9c319fa4b69b4ac5dd9
     bool rov_init(bool ignore_checks);
     void rov_run();
-=======
->>>>>>> Changed to ArduCopter as the base code.
     void crash_check();
     void parachute_check();
     void parachute_release();
diff --git a/ArduSub/config.h b/ArduSub/config.h
index 5bf48e22c6..8561a15bc3 100644
--- a/ArduSub/config.h
+++ b/ArduSub/config.h
@@ -88,11 +88,10 @@
  # define FRAME_CONFIG_STRING "SINGLE"
 #elif FRAME_CONFIG == COAX_FRAME
  # define FRAME_CONFIG_STRING "COAX"
-<<<<<<< 6dafedb2d1ad5061d859a9c319fa4b69b4ac5dd9
-#elif FRAME_CONFIG == BLUEROV
- # define FRAME_CONFIG_STRING "BLUEROV"
-=======
->>>>>>> Changed to ArduCopter as the base code.
+#elif FRAME_CONFIG == BLUEROV_FRAME
+ # define FRAME_CONFIG_STRING "ROV_BLUEROV_FRAME"
+#elif FRAME_CONFIG == VECTORED_FRAME
+ # define FRAME_CONFIG_STRING "ROV_VECTORED_FRAME"
 #else
  # define FRAME_CONFIG_STRING "UNKNOWN"
 #endif
diff --git a/ArduSub/defines.h b/ArduSub/defines.h
index 26d11c84a4..c88ee3e5a1 100644
--- a/ArduSub/defines.h
+++ b/ArduSub/defines.h
@@ -79,10 +79,8 @@ enum aux_sw_func {
 #define OCTA_QUAD_FRAME 7
 #define SINGLE_FRAME 8
 #define COAX_FRAME 9
-<<<<<<< 6dafedb2d1ad5061d859a9c319fa4b69b4ac5dd9
-#define BLUEROV 10
-=======
->>>>>>> Changed to ArduCopter as the base code.
+#define BLUEROV_FRAME 10
+#define VECTORED_FRAME 11
 
 // HIL enumerations
 #define HIL_MODE_DISABLED               0