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Rover: GCS_MAVLink takes care of mavlink capabilities

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This commit is contained in:
Peter Barker 2018-03-29 12:02:36 +11:00 committed by Peter Barker
parent f759c7ac7e
commit 7d6140e029
5 changed files with 14 additions and 18 deletions
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13
APMrover2/GCS_Mavlink.cpp
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@ -1070,6 +1070,19 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
} // end switch
} // end handle mavlink
uint64_t GCS_MAVLINK_Rover::capabilities() const
{
return (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 |
MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET |
MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION |
GCS_MAVLINK::capabilities());
}
/*
* a delay() callback that processes MAVLink packets. We set this as the
* callback in long running library initialisation routines to allow

1
APMrover2/GCS_Mavlink.h
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@ -34,6 +34,7 @@ protected:
bool set_home_to_current_location(bool lock) override;
bool set_home(const Location& loc, bool lock) override;
uint64_t capabilities() const override;
void send_nav_controller_output() const override;

3
APMrover2/Rover.h
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@ -396,9 +396,6 @@ private:
void balancebot_pitch_control(float &throttle);
bool is_balancebot() const;
// capabilities.cpp
void init_capabilities(void);
// commands_logic.cpp
void update_mission(void);

13
APMrover2/capabilities.cpp
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@ -1,13 +0,0 @@
#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 |
MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET |
MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION);
}

2
APMrover2/system.cpp
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@ -27,8 +27,6 @@ void Rover::init_ardupilot()
AP::fwversion().fw_string,
(unsigned)hal.util->available_memory());
init_capabilities();
//
// Check the EEPROM format version before loading any parameters from EEPROM.
//