ardupilot/ArduCopter/capabilities.cpp

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Copter.h"
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void Copter::init_capabilities(void)
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{
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 |
MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION |
MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET);
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_TERRAIN);
#endif
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}