From 5848d8a5e6d86d7a051cf5103253bd2b277be94d Mon Sep 17 00:00:00 2001
From: Michael Oborne <mich146@hotmail.com>
Date: Tue, 8 Mar 2016 10:41:11 +0800
Subject: [PATCH] ArduCopter: support MAVLINK_MSG_ID_MISSION_ITEM_INT

---
 ArduCopter/GCS_Mavlink.cpp  | 11 ++++++++++-
 ArduCopter/capabilities.cpp |  1 +
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 900383ed85..b764e3a45a 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1070,9 +1070,18 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         }
         break;
     }
+    
+    case MAVLINK_MSG_ID_MISSION_ITEM_INT:
+    {
+        if (handle_mission_item(msg, copter.mission)) {
+            copter.DataFlash.Log_Write_EntireMission(copter.mission);
+        }
+        break;
+    }
 
     // read an individual command from EEPROM and send it to the GCS
-    case MAVLINK_MSG_ID_MISSION_REQUEST:     // MAV ID: 40
+    case MAVLINK_MSG_ID_MISSION_REQUEST_INT:
+    case MAVLINK_MSG_ID_MISSION_REQUEST:     // MAV ID: 40, 51
     {
         handle_mission_request(copter.mission, msg);
         break;
diff --git a/ArduCopter/capabilities.cpp b/ArduCopter/capabilities.cpp
index e80fabea93..238a7ffddf 100644
--- a/ArduCopter/capabilities.cpp
+++ b/ArduCopter/capabilities.cpp
@@ -6,6 +6,7 @@ void Copter::init_capabilities(void)
 {
     hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT);
     hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT);
+    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);