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);
}
Rover: init vehicle capabilities 2015-07-31 18:14:51 -03:00			`#include "Rover.h"`

			`void Rover::init_capabilities(void)`
			`{`
Rover: By multiple bit synthetic, can this method once access. 2016-08-18 18:34:25 -03:00			`hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT \|`
			`MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT \|`
Rover: add support for SET_POSITION_TARGET_GLOBAL_INT Also supports SET_POSITION_TARGET_LOCAL_NED but for both messages only the position fields are consumed. Support for velocity, acceleration and yaw fields are not included. 2016-08-23 03:04:30 -03:00			`MAV_PROTOCOL_CAPABILITY_MISSION_INT \|`
Rover: Added support for COMMAND_INT And also made DO_SET_ROI available as a COMMAND_INT as this gives us cm accuracy rather then 1.5m when a float is used. 2016-08-25 22:28:49 -03:00			`MAV_PROTOCOL_CAPABILITY_COMMAND_INT \|`
Rover: add support for SET_POSITION_TARGET_GLOBAL_INT Also supports SET_POSITION_TARGET_LOCAL_NED but for both messages only the position fields are consumed. Support for velocity, acceleration and yaw fields are not included. 2016-08-23 03:04:30 -03:00			`MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED \|`
			`MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT);`
Rover: init vehicle capabilities 2015-07-31 18:14:51 -03:00			`}`