From d628b0d022b27c6ff6c16ead4248a16d8f3cee17 Mon Sep 17 00:00:00 2001
From: Rustom Jehangir <rustyj110@gmail.com>
Date: Mon, 11 Apr 2016 22:05:48 -0700
Subject: [PATCH] Sub: Add 'SimpleROV' frame configuration for 3/4-dof ROVs

---
 ArduSub/APM_Config.h    | 1 +
 ArduSub/GCS_Mavlink.cpp | 2 +-
 ArduSub/Parameters.cpp  | 2 +-
 ArduSub/Sub.h           | 2 ++
 ArduSub/config.h        | 2 ++
 ArduSub/defines.h       | 1 +
 ArduSub/wscript         | 2 +-
 7 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/ArduSub/APM_Config.h b/ArduSub/APM_Config.h
index 244bae5920..3c6b5b5bd3 100644
--- a/ArduSub/APM_Config.h
+++ b/ArduSub/APM_Config.h
@@ -10,6 +10,7 @@
  *  BLUEROV_FRAME
  *  VECTORED_FRAME
  *  VECTORED6DOF_FRAME
+ *  SIMPLEROV_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 0aba37ca71..175e351ea5 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -95,7 +95,7 @@ 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,
-#elif (FRAME_CONFIG == BLUEROV_FRAME || FRAME_CONFIG == VECTORED_FRAME || FRAME_CONFIG == VECTORED6DOF_FRAME)
+#elif (FRAME_CONFIG == BLUEROV_FRAME || FRAME_CONFIG == VECTORED_FRAME || FRAME_CONFIG == VECTORED6DOF_FRAME || FRAME_CONFIG == SIMPLEROV_FRAME )
         MAV_TYPE_SUBMARINE,
 #else
   #error Unrecognised frame type
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 7806aa50cc..c128852712 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -942,7 +942,7 @@ const AP_Param::Info Sub::var_info[] = {
     GOBJECT(rally,      "RALLY_",   AP_Rally),
 #endif
 
-//#if (FRAME_CONFIG == VECTORED_FRAME || FRAME_CONFIG == BLUEROV_FRAME || FRAME_CONFIG == VECTORED6DOF_FRAME)
+//#if (FRAME_CONFIG == VECTORED_FRAME || FRAME_CONFIG == BLUEROV_FRAME || FRAME_CONFIG == VECTORED6DOF_FRAME || FRAME_CONFIG == SIMPLEROV )
 	// @Group: MOT_
 	// @Path: ../libraries/AP_Motors/AP_Motors6DOF.cpp
 	GOBJECT(motors, "MOT_",         AP_Motors6DOF),
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 365c047ecb..21178c15e6 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -325,6 +325,8 @@ private:
  #define MOTOR_CLASS AP_MotorsVectoredROV
 #elif FRAME_CONFIG == VECTORED6DOF_FRAME
  #define MOTOR_CLASS AP_MotorsVectored6DOF
+#elif FRAME_CONFIG == SIMPLEROV_FRAME
+ #define MOTOR_CLASS AP_MotorsSimpleROV
 
 #else
  #error Unrecognised frame type
diff --git a/ArduSub/config.h b/ArduSub/config.h
index ed3fe7b790..a9b7cf8bff 100644
--- a/ArduSub/config.h
+++ b/ArduSub/config.h
@@ -72,6 +72,8 @@
  # define FRAME_CONFIG_STRING "ROV_VECTORED_FRAME"
 #elif FRAME_CONFIG == VECTORED6DOF_FRAME
  # define FRAME_CONFIG_STRING "ROV_VECTORED6DOF_FRAME"
+#elif FRAME_CONFIG == SIMPLEROV_FRAME
+ # define FRAME_CONFIG_STRING "ROV_SIMPLEROV_FRAME"
 #else
  # define FRAME_CONFIG_STRING "UNKNOWN"
 #endif
diff --git a/ArduSub/defines.h b/ArduSub/defines.h
index 8ff18f1987..0b823e97fc 100644
--- a/ArduSub/defines.h
+++ b/ArduSub/defines.h
@@ -88,6 +88,7 @@ enum aux_sw_func {
 #define BLUEROV_FRAME 10
 #define VECTORED_FRAME 11
 #define VECTORED6DOF_FRAME 12
+#define SIMPLEROV_FRAME 13
 
 // HIL enumerations
 #define HIL_MODE_DISABLED               0
diff --git a/ArduSub/wscript b/ArduSub/wscript
index 12ed2990de..3a53561638 100644
--- a/ArduSub/wscript
+++ b/ArduSub/wscript
@@ -35,7 +35,7 @@ def build(bld):
     )
 
     frames = (
-        'bluerov','vectored','vectored6DOF',
+        'bluerov','vectored','vectored6DOF','simplerov'
     )
 
     for frame in frames: