Tracker: GCS_MAVLink takes care of mavlink capabilities

AntennaTracker/GCS_Mavlink.cpp

@@ -530,6 +530,13 @@ mission_failed:
 } // end handle mavlink
 
 
+uint64_t GCS_MAVLINK_Tracker::capabilities() const
+{
+    return (MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT |
+            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

AntennaTracker/GCS_Mavlink.h

@@ -30,6 +30,7 @@ protected:
 
     bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED { return false; }
     bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED { return false; }
+    uint64_t capabilities() const override;
 
     void send_nav_controller_output() const override;
 

AntennaTracker/Tracker.h

@@ -202,9 +202,6 @@ private:
     void one_second_loop();
     void ten_hz_logging_loop();
 
-    // capabilities.cpp
-    void init_capabilities(void);
-
     // control_auto.cpp
     void update_auto(void);
     void calc_angle_error(float pitch, float yaw, bool direction_reversed);

AntennaTracker/capabilities.cpp

@@ -1,7 +0,0 @@
-#include "Tracker.h"
-
-void Tracker::init_capabilities(void)
-{
-    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT |
-                               MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION);
-}

AntennaTracker/system.cpp

@@ -17,8 +17,6 @@ void Tracker::init_tracker()
                         AP::fwversion().fw_string,
                         (unsigned)hal.util->available_memory());
 
-    init_capabilities();
-
     // Check the EEPROM format version before loading any parameters from EEPROM
     load_parameters();