diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 448cb667e4..3aad8570d2 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -946,7 +946,7 @@ private:
     void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode);
     void log_init(void);
     void run_cli(AP_HAL::UARTDriver *port);
-    uint64_t get_capabilities(void);
+    void init_capabilities(void);
 
 public:
     void mavlink_delay_cb();
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index f40e552a45..bfd609e91b 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1416,7 +1416,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
         case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
             if (is_equal(packet.param1,1.0f)) {
-                copter.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(copter.get_capabilities());
+                copter.gcs[chan-MAVLINK_COMM_0].send_autopilot_version();
                 result = MAV_RESULT_ACCEPTED;
             }
             break;
@@ -1714,7 +1714,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 #endif // AC_RALLY == ENABLED
 
     case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
-        copter.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(copter.get_capabilities());
+        copter.gcs[chan-MAVLINK_COMM_0].send_autopilot_version();
         break;
 
     case MAVLINK_MSG_ID_LED_CONTROL:
diff --git a/ArduCopter/capabilities.cpp b/ArduCopter/capabilities.cpp
index 9c3ff591c4..329125c90a 100644
--- a/ArduCopter/capabilities.cpp
+++ b/ArduCopter/capabilities.cpp
@@ -2,16 +2,10 @@
 
 #include "Copter.h"
 
-uint64_t Copter::get_capabilities(void)
+void Copter::init_capabilities(void)
 {
-    uint64_t capabilities = MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT
-                 | MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT
-                 | MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED
-                 | MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT;
-
-    #if AP_TERRAIN_AVAILABLE
-        capabilities |= MAV_PROTOCOL_CAPABILITY_TERRAIN;
-    #endif
-
-    return capabilities;
+    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_SET_POSITION_TARGET_LOCAL_NED);
+    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT);
 }
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 490976a5ee..479af37580 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -266,6 +266,9 @@ void Copter::init_ardupilot()
     ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
     ins.set_dataflash(&DataFlash);
 
+    // init vehicle capabilties
+    init_capabilities();
+
     cliSerial->print_P(PSTR("\nReady to FLY "));
 
     // flag that initialisation has completed