Sub: Set frame configuration with parameter instead of make target

Now only one firmware is required for ArduSub

ArduSub/APM_Config.h

@@ -5,15 +5,6 @@
 // If you used to define your CONFIG_APM_HARDWARE setting here, it is no longer
 // valid! You should switch to using a HAL_BOARD flag in your local config.mk.
 
-//#define FRAME_CONFIG VECTORED_FRAME
-/*  options:
- *  BLUEROV_FRAME
- *  VECTORED_FRAME
- *  VECTORED6DOF_FRAME
- *  SIMPLEROV_FRAME
- *  VECTORED90_FRAME
- */
-
 // uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)
 //#define LOGGING_ENABLED       DISABLED            // disable dataflash logging to save 11K of flash space
 //#define MOUNT                 DISABLED            // disable the camera gimbal to save 8K of flash space

ArduSub/GCS_Mavlink.cpp

@@ -1075,7 +1075,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
         send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
 #endif
-        send_text(MAV_SEVERITY_INFO, "Frame: " FRAME_CONFIG_STRING);
         handle_param_request_list(msg);
         break;
     }
@@ -1602,8 +1601,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
             #endif
 
-            send_text(MAV_SEVERITY_INFO, "Frame: " FRAME_CONFIG_STRING);
-
             // send system ID if we can
             char sysid[40];
             if (hal.util->get_system_id(sysid)) {

ArduSub/Log.cpp

@@ -699,8 +699,7 @@ const struct LogStructure Sub::log_structure[] = {
 void Sub::Log_Read(uint16_t list_entry, uint16_t start_page, uint16_t end_page)
 {
     cliSerial->printf("\n" FIRMWARE_STRING
-                             "\nFree RAM: %u\n"
-                             "\nFrame: " FRAME_CONFIG_STRING "\n",
+                             "\nFree RAM: %u\n",
                         (unsigned) hal.util->available_memory());
 
     cliSerial->println(HAL_BOARD_NAME);
@@ -714,7 +713,6 @@ void Sub::Log_Read(uint16_t list_entry, uint16_t start_page, uint16_t end_page)
 void Sub::Log_Write_Vehicle_Startup_Messages()
 {
     // only 200(?) bytes are guaranteed by DataFlash
-    DataFlash.Log_Write_Message("Frame: " FRAME_CONFIG_STRING);
     DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
 }
 

ArduSub/Parameters.cpp

@@ -515,6 +515,14 @@ const AP_Param::Info Sub::var_info[] = {
 	// @Range: 1000 2000
 	GSCALAR(cam_tilt_center, "CAM_CENTER", 1500),
 
+	// @Param: FRAME_CONFIG
+	// @DisplayName: Frame configuration
+	// @Description: Set this parameter according to your vehicle/motor configuration
+	// @User: Standard
+    // @RebootRequired: True
+	// @Values: 0:BlueROV1, 1:SimpleROV, 2:BlueROV2/Vectored, 3:Vectored6DOF, 4:Vectored90
+	GSCALAR(frame_configuration, "FRAME_CONFIG", AS_MOTORS_VECTORED_FRAME),
+
 	// @Group: BTN0_
 	// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
 	GGROUP(jbtn_0,                   "BTN0_", JSButton),
@@ -840,17 +848,10 @@ 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 || FRAME_CONFIG == SIMPLEROV || FRAME_CONFIG == VECTORED90_FRAME)
 	// @Group: MOT_
 	// @Path: ../libraries/AP_Motors/AP_Motors6DOF.cpp,../libraries/AP_Motors/AP_MotorsMulticopter.cpp
 	GOBJECT(motors, "MOT_",         AP_Motors6DOF),
 
-//#else
-//    // @Group: MOT_
-//    // @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp
-//    GOBJECT(motors, "MOT_",         AP_MotorsMulticopter),
-//#endif
-
 #if RCMAP_ENABLED == ENABLED
     // @Group: RCMAP_
     // @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp

ArduSub/Parameters.h

@@ -206,6 +206,7 @@ public:
         k_param_rc_feel_rp,
 		k_param_throttle_gain,
 		k_param_cam_tilt_center,
+		k_param_frame_configuration,
 
 		// Acro Mode parameters
         k_param_acro_yaw_p = 220, // Used in all modes for get_pilot_desired_yaw_rate
@@ -399,6 +400,7 @@ public:
 #endif
 
     AP_Float				surface_depth;
+    AP_Int8					frame_configuration;
 
     // Note: keep initializers here in the same order as they are declared
     // above.

ArduSub/Sub.h

@@ -299,23 +299,7 @@ private:
         uint8_t compass     : 1;    // true if compass is healthy
     } sensor_health;
 
-    // Motor Output
-#if FRAME_CONFIG == BLUEROV_FRAME
- #define MOTOR_CLASS AP_MotorsBlueROV6DOF
-#elif FRAME_CONFIG == VECTORED_FRAME
- #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
-#elif FRAME_CONFIG == VECTORED90_FRAME
- #define MOTOR_CLASS AP_MotorsVectored90
-
-#else
- #error Unrecognised frame type
-#endif
-
-    MOTOR_CLASS motors;
+    AP_Motors6DOF motors;
 
     // GPS variables
     // Sometimes we need to remove the scaling for distance calcs

ArduSub/config.h

@@ -54,27 +54,6 @@
 # define MAIN_LOOP_SECONDS 0.0025f
 # define MAIN_LOOP_MICROS  2500
 
-//////////////////////////////////////////////////////////////////////////////
-// FRAME_CONFIG
-//
-#ifndef FRAME_CONFIG
- # define FRAME_CONFIG   VECTORED6DOF_FRAME
-#endif
-
-#if FRAME_CONFIG == BLUEROV_FRAME
- # define FRAME_CONFIG_STRING "ROV_BLUEROV_FRAME"
-#elif FRAME_CONFIG == VECTORED_FRAME
- # 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"
-#elif FRAME_CONFIG == VECTORED90_FRAME
-# define FRAME_CONFIG_STRING "ROV_VECTORED90_FRAME"
-#else
- # define FRAME_CONFIG_STRING "UNKNOWN"
-#endif
-
 #ifndef SURFACE_DEPTH_DEFAULT
  # define SURFACE_DEPTH_DEFAULT -10.0f // pressure sensor reading 10cm depth means craft is considered surfaced
 #endif

ArduSub/defines.h

@@ -86,23 +86,6 @@ enum aux_sw_func {
     AUXSW_RELAY4 =              36, // Relay4 pin on/off (in Mission planner set CH10_OPT = 36)
 };
 
-// Frame types
-#define UNDEFINED_FRAME 0
-#define QUAD_FRAME 1
-#define TRI_FRAME 2
-#define HEXA_FRAME 3
-#define Y6_FRAME 4
-#define OCTA_FRAME 5
-#define HELI_FRAME 6
-#define OCTA_QUAD_FRAME 7
-#define SINGLE_FRAME 8
-#define COAX_FRAME 9
-#define BLUEROV_FRAME 10
-#define VECTORED_FRAME 11
-#define VECTORED6DOF_FRAME 12
-#define SIMPLEROV_FRAME 13
-#define VECTORED90_FRAME 14
-
 // HIL enumerations
 #define HIL_MODE_DISABLED               0
 #define HIL_MODE_SENSORS                1