Sub: Add 'SimpleROV' frame configuration for 3/4-dof ROVs

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)

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

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),

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

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

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

ArduSub/wscript

@@ -35,7 +35,7 @@ def build(bld):
     )
 
     frames = (
-        'bluerov','vectored','vectored6DOF',
+        'bluerov','vectored','vectored6DOF','simplerov'
     )
 
     for frame in frames: