Copter: Support for decacopters

ArduCopter/Parameters.cpp

@@ -831,7 +831,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Param: FRAME_CLASS
     // @DisplayName: Frame Class
     // @Description: Controls major frame class for multicopter component
-    // @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
+    // @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, 14:Deca
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO("FRAME_CLASS", 15, ParametersG2, frame_class, DEFAULT_FRAME_CLASS),

ArduCopter/system.cpp

@@ -466,6 +466,8 @@ MAV_TYPE Copter::get_frame_mav_type()
             return MAV_TYPE_COAXIAL;
         case AP_Motors::MOTOR_FRAME_DODECAHEXA:
             return MAV_TYPE_DODECAROTOR;
+        case AP_Motors::MOTOR_FRAME_DECA:
+            return MAV_TYPE_DECAROTOR;
     }
     // unknown frame so return generic
     return MAV_TYPE_GENERIC;
@@ -501,6 +503,8 @@ const char* Copter::get_frame_string()
             return "TAILSITTER";
         case AP_Motors::MOTOR_FRAME_DODECAHEXA:
             return "DODECA_HEXA";
+        case AP_Motors::MOTOR_FRAME_DECA:
+            return "DECA";
         case AP_Motors::MOTOR_FRAME_UNDEFINED:
         default:
             return "UNKNOWN";
@@ -520,6 +524,7 @@ void Copter::allocate_motors(void)
         case AP_Motors::MOTOR_FRAME_OCTA:
         case AP_Motors::MOTOR_FRAME_OCTAQUAD:
         case AP_Motors::MOTOR_FRAME_DODECAHEXA:
+        case AP_Motors::MOTOR_FRAME_DECA:
         default:
             motors = new AP_MotorsMatrix(copter.scheduler.get_loop_rate_hz());
             motors_var_info = AP_MotorsMatrix::var_info;