ardupilot/ArduSub/capabilities.cpp

#include "Sub.h"

void Sub::init_capabilities(void)
{
    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT);
    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT);
    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_MISSION_INT);
    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED);
    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT);
    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION);
    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET);
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_TERRAIN);
#endif
}