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Copter: init vehicle capabilities

This commit is contained in:
Randy Mackay 2015-07-30 15:44:18 +09:00
parent 7d2c0079ff
commit 6765aedb5b
4 changed files with 11 additions and 14 deletions
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2
ArduCopter/Copter.h
View File

@ -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();

4
ArduCopter/GCS_Mavlink.cpp
View File

@ -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:

16
ArduCopter/capabilities.cpp
View File

@ -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);
}

3
ArduCopter/system.cpp
View File

@ -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