ardupilot/APMrover2/capabilities.cpp

#include "Rover.h"

void Rover::init_capabilities(void)
{
    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT |
                               MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT |
                               MAV_PROTOCOL_CAPABILITY_MISSION_INT |
                               MAV_PROTOCOL_CAPABILITY_COMMAND_INT |
                               MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED |
                               MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT);
}