AP_Motors: add get_frame_mav_type

libraries/AP_Motors/AP_MotorsCoax.cpp

@@ -37,6 +37,8 @@ void AP_MotorsCoax::init(motor_frame_class frame_class, motor_frame_type frame_t
         SRV_Channels::set_angle(SRV_Channels::get_motor_function(i), AP_MOTORS_COAX_SERVO_INPUT_RANGE);
     }
 
+    _mav_type = MAV_TYPE_COAXIAL;
+
     // record successful initialisation if what we setup was the desired frame_class
     set_initialised_ok(frame_class == MOTOR_FRAME_COAX);
 }

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -159,6 +159,7 @@ void AP_MotorsHeli::init(motor_frame_class frame_class, motor_frame_type frame_t
     // set flag to true so targets are initialized once aircraft is armed for first time
     _heliflags.init_targets_on_arming = true;
 
+    _mav_type = MAV_TYPE_HELICOPTER;
 }
 
 // set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)

libraries/AP_Motors/AP_MotorsMatrix.cpp

@@ -492,6 +492,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
     switch (frame_class) {
 
         case MOTOR_FRAME_QUAD:
+            _mav_type = MAV_TYPE_QUADROTOR;
             switch (frame_type) {
                 case MOTOR_FRAME_TYPE_PLUS:
                     add_motor(AP_MOTORS_MOT_1,  90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
@@ -618,6 +619,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
             break;  // quad
 
         case MOTOR_FRAME_HEXA:
+            _mav_type = MAV_TYPE_HEXAROTOR;
             switch (frame_type) {
                 case MOTOR_FRAME_TYPE_PLUS:
                     add_motor(AP_MOTORS_MOT_1,   0, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1);
@@ -668,6 +670,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
             break;
 
         case MOTOR_FRAME_OCTA:
+            _mav_type = MAV_TYPE_OCTOROTOR;
             switch (frame_type) {
                 case MOTOR_FRAME_TYPE_PLUS:
                     add_motor(AP_MOTORS_MOT_1,    0,  AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1);
@@ -747,6 +750,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
             break;
 
         case MOTOR_FRAME_OCTAQUAD:
+            _mav_type = MAV_TYPE_OCTOROTOR;
             switch (frame_type) {
                 case MOTOR_FRAME_TYPE_PLUS:
                     add_motor(AP_MOTORS_MOT_1,    0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
@@ -807,6 +811,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
             break;
 
         case MOTOR_FRAME_DODECAHEXA: {
+            _mav_type = MAV_TYPE_DODECAROTOR;
             switch (frame_type) {
                 case MOTOR_FRAME_TYPE_PLUS:
                     add_motor(AP_MOTORS_MOT_1,     0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);  // forward-top
@@ -844,6 +849,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
             break;
 
         case MOTOR_FRAME_Y6:
+            _mav_type = MAV_TYPE_HEXAROTOR;
             switch (frame_type) {
                 case MOTOR_FRAME_TYPE_Y6B:
                     // Y6 motor definition with all top motors spinning clockwise, all bottom motors counter clockwise
@@ -875,6 +881,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
             break;
 
         case MOTOR_FRAME_DECA:
+            _mav_type = MAV_TYPE_DECAROTOR;
             switch (frame_type) {
                 case MOTOR_FRAME_TYPE_PLUS:
                     add_motor(AP_MOTORS_MOT_1,     0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  1);
@@ -910,6 +917,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
         default:
             // matrix doesn't support the configured class
             success = false;
+            _mav_type = MAV_TYPE_GENERIC;
             break;
     } // switch frame_class
 

libraries/AP_Motors/AP_MotorsSingle.cpp

@@ -37,6 +37,8 @@ void AP_MotorsSingle::init(motor_frame_class frame_class, motor_frame_type frame
         SRV_Channels::set_angle(SRV_Channels::get_motor_function(i), AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
     }
 
+    _mav_type = MAV_TYPE_COAXIAL;
+
     // record successful initialisation if what we setup was the desired frame_class
     set_initialised_ok(frame_class == MOTOR_FRAME_SINGLE);
 }

libraries/AP_Motors/AP_MotorsTailsitter.cpp

@@ -53,6 +53,8 @@ void AP_MotorsTailsitter::init(motor_frame_class frame_class, motor_frame_type f
     SRV_Channels::set_aux_channel_default(SRV_Channel::k_tiltMotorLeft, CH_4);
     SRV_Channels::set_angle(SRV_Channel::k_tiltMotorLeft, SERVO_OUTPUT_RANGE);
 
+    _mav_type = MAV_TYPE_COAXIAL;
+
     // record successful initialisation if what we setup was the desired frame_class
     set_initialised_ok(frame_class == MOTOR_FRAME_TAILSITTER);
 }

libraries/AP_Motors/AP_MotorsTri.cpp

@@ -54,6 +54,8 @@ void AP_MotorsTri::init(motor_frame_class frame_class, motor_frame_type frame_ty
         _pitch_reversed = true;
     }
 
+    _mav_type = MAV_TYPE_TRICOPTER;
+
     // record successful initialisation if what we setup was the desired frame_class
     set_initialised_ok(frame_class == MOTOR_FRAME_TRI);
 }

libraries/AP_Motors/AP_Motors_Class.h

@@ -204,6 +204,8 @@ public:
                     PWM_TYPE_DSHOT1200  = 7};
     pwm_type            get_pwm_type(void) const { return (pwm_type)_pwm_type.get(); }
 
+    MAV_TYPE get_frame_mav_type() const { return _mav_type; }
+
 protected:
     // output functions that should be overloaded by child classes
     virtual void        output_armed_stabilizing() = 0;
@@ -265,6 +267,8 @@ protected:
     bool                _thrust_balanced;       // true when output thrust is well balanced
     float               _thrust_boost_ratio;    // choice between highest and second highest motor output for output mixing (0 ~ 1). Zero is normal operation
 
+    MAV_TYPE _mav_type; // MAV_TYPE_GENERIC = 0;
+
 private:
 
     bool _armed;             // 0 if disarmed, 1 if armed