2015-07-21 19:04:25 -03:00
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Copter.h"
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2015-07-30 03:44:18 -03:00
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void Copter::init_capabilities(void)
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2015-07-21 19:04:25 -03:00
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{
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2016-08-21 19:12:14 -03:00
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hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT |
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MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT |
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MAV_PROTOCOL_CAPABILITY_MISSION_INT |
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MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED |
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MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT |
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MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION |
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MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET);
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2016-06-27 05:10:44 -03:00
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
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2016-03-19 05:09:39 -03:00
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hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_TERRAIN);
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2016-06-27 05:10:44 -03:00
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#endif
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2015-07-21 19:04:25 -03:00
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}
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