AP_Motors: add build options for each frame class

libraries/AP_Motors/AP_MotorsMatrix.cpp

@@ -585,7 +585,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
     bool success = true;
 
     switch (frame_class) {
-
+#if FRAME_QUAD
         case MOTOR_FRAME_QUAD:
             _frame_class_string = "QUAD";
             _mav_type = MAV_TYPE_QUADROTOR;
@@ -635,7 +635,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
                     add_motors(motors, ARRAY_SIZE(motors));
                     break;
                 }
-#endif
+#endif //APM_BUILD_TYPE(APM_BUILD_ArduPlane)
                 case MOTOR_FRAME_TYPE_BF_X: {
                     // betaflight quad X order
                     // see: https://fpvfrenzy.com/betaflight-motor-order/
@@ -772,7 +772,8 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
                     break;
             }
             break;  // quad
-
+#endif //FRAME_QUAD
+#if FRAME_HEXA
         case MOTOR_FRAME_HEXA:
             _frame_class_string = "HEXA";
             _mav_type = MAV_TYPE_HEXAROTOR;
@@ -850,7 +851,8 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
                     break;
             }
             break;
-
+#endif //FRAME_HEXA
+#if FRAME_OCTA
         case MOTOR_FRAME_OCTA:
             _frame_class_string = "OCTA";
             _mav_type = MAV_TYPE_OCTOROTOR;
@@ -968,7 +970,8 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
                     break;
             } // octa frame type
             break;
-
+#endif //FRAME_OCTA
+#if FRAME_OCTAQUAD
         case MOTOR_FRAME_OCTAQUAD:
             _mav_type = MAV_TYPE_OCTOROTOR;
             _frame_class_string = "OCTAQUAD";
@@ -1055,7 +1058,8 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
                     break;
             }
             break;
-
+#endif //FRAME_OCTAQUAD
+#if FRAME_DODECAHEXA
         case MOTOR_FRAME_DODECAHEXA: {
             _mav_type = MAV_TYPE_DODECAROTOR;
             _frame_class_string = "DODECAHEXA";
@@ -1105,7 +1109,8 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
                     break;
             }}
             break;
-
+#endif //FRAME_DODECAHEXA
+#if FRAME_Y6
         case MOTOR_FRAME_Y6:
             _mav_type = MAV_TYPE_HEXAROTOR;
             _frame_class_string = "Y6";
@@ -1153,7 +1158,8 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
                 }
             }
             break;
-
+#endif //FRAME_Y6
+#if FRAME_DECA
         case MOTOR_FRAME_DECA:
             _mav_type = MAV_TYPE_DECAROTOR;
             _frame_class_string = "DECA";
@@ -1198,13 +1204,15 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
                     break;
             }
             break;
-
+#endif //FRAME_DECA
         default:
             // matrix doesn't support the configured class
             _frame_class_string = "UNSUPPORTED";
             success = false;
             _mav_type = MAV_TYPE_GENERIC;
             break;
+
+
     } // switch frame_class
 
     // normalise factors to magnitude 0.5

libraries/AP_Motors/AP_Motors_Class.h

@@ -22,6 +22,28 @@
 
 #define AP_MOTORS_MAX_NUM_MOTORS 12
 
+#ifndef FRAME_QUAD
+#define FRAME_QUAD 1
+#endif
+#ifndef FRAME_HEXA
+#define FRAME_HEXA 1
+#endif
+#ifndef FRAME_OCTA
+#define FRAME_OCTA 1
+#endif
+#ifndef FRAME_DECA
+#define FRAME_DECA 1
+#endif
+#ifndef FRAME_DODECAHEXA
+#define FRAME_DODECAHEXA 1
+#endif
+#ifndef FRAME_Y6
+#define FRAME_Y6 1
+#endif
+#ifndef FRAME_OCTAQUAD
+#define FRAME_OCTAQUAD 1
+#endif
+
 // motor update rate
 #define AP_MOTORS_SPEED_DEFAULT     490 // default output rate to the motors