From cf45108efb66d0d34d40e32e71e8185f0ae7c773 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 3 Jul 2019 15:13:03 +1000
Subject: [PATCH] Copter: set Heli frame default at compile-time

---
 ArduCopter/Copter.h       |  1 -
 ArduCopter/Parameters.cpp |  9 ++++++++-
 ArduCopter/system.cpp     | 13 -------------
 3 files changed, 8 insertions(+), 15 deletions(-)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 192ba60e9c..bd30220b0d 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -844,7 +844,6 @@ private:
     bool optflow_position_ok();
     void update_auto_armed();
     bool should_log(uint32_t mask);
-    void set_default_frame_class();
     MAV_TYPE get_frame_mav_type();
     const char* get_frame_string();
     void allocate_motors(void);
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 8059b8682e..39dbaa0cf4 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -28,6 +28,13 @@
 #define GOBJECTVARPTR(v, name, var_info_ptr) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info_ptr : var_info_ptr}, AP_PARAM_FLAG_POINTER | AP_PARAM_FLAG_INFO_POINTER }
 #define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, (const void *)&copter.v, {group_info : class::var_info} }
 
+#if FRAME_CONFIG == HELI_FRAME
+// 6 here is AP_Motors::MOTOR_FRAME_HELI
+#define DEFAULT_FRAME_CLASS 6
+#else
+#define DEFAULT_FRAME_CLASS 0
+#endif
+
 const AP_Param::Info Copter::var_info[] = {
     // @Param: SYSID_SW_MREV
     // @DisplayName: Eeprom format version number
@@ -819,7 +826,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Values: 0:Undefined, 1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 6:Heli, 7:Tri, 8:SingleCopter, 9:CoaxCopter, 10:BiCopter, 11:Heli_Dual, 12:DodecaHexa, 13:HeliQuad
     // @User: Standard
     // @RebootRequired: True
-    AP_GROUPINFO("FRAME_CLASS", 15, ParametersG2, frame_class, 0),
+    AP_GROUPINFO("FRAME_CLASS", 15, ParametersG2, frame_class, DEFAULT_FRAME_CLASS),
 
     // @Group: SERVO
     // @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index a476f30b66..e45cbb908b 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -108,9 +108,6 @@ void Copter::init_ardupilot()
 
     init_rc_in();               // sets up rc channels from radio
 
-    // default frame class to match firmware if possible
-    set_default_frame_class();
-
     // allocate the motors class
     allocate_motors();
 
@@ -395,16 +392,6 @@ bool Copter::should_log(uint32_t mask)
 #endif
 }
 
-// default frame_class to match firmware if possible
-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_QUAD) {
-        g2.frame_class.set(AP_Motors::MOTOR_FRAME_HELI);
-    }
-}
-
 // return MAV_TYPE corresponding to frame class
 MAV_TYPE Copter::get_frame_mav_type()
 {