From 7c575b251a2beb4fb5c69add7505314e1faf4cc7 Mon Sep 17 00:00:00 2001
From: squilter <s.quilter@aol.com>
Date: Fri, 31 Jul 2015 15:39:36 -0700
Subject: [PATCH] Plane: init vehicle capabilities

---
 ArduPlane/Plane.h          | 1 +
 ArduPlane/capabilities.cpp | 9 +++++++++
 ArduPlane/system.cpp       | 2 ++
 3 files changed, 12 insertions(+)
 create mode 100644 ArduPlane/capabilities.cpp

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index b9e4312600..db0e7d5c37 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -914,6 +914,7 @@ private:
     void log_init();
     uint32_t millis() const;
     uint32_t micros() const;
+    void init_capabilities(void);
 
 public:
     void mavlink_delay_cb();
diff --git a/ArduPlane/capabilities.cpp b/ArduPlane/capabilities.cpp
new file mode 100644
index 0000000000..fd9ab981be
--- /dev/null
+++ b/ArduPlane/capabilities.cpp
@@ -0,0 +1,9 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+#include "Plane.h"
+
+void Plane::init_capabilities(void)
+{
+    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT);
+    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT);
+}
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index f6c1334f41..0ee00ea9ff 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -235,6 +235,8 @@ void Plane::init_ardupilot()
     }
 #endif // CLI_ENABLED
 
+    init_capabilities();
+
     startup_ground();
     Log_Write_Startup(TYPE_GROUNDSTART_MSG);