ardupilot/ArduSub/capabilities.cpp

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#include "Sub.h"
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void Sub::init_capabilities(void)
{
hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT);
hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT);
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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
}