From c46de4a9a036adaeb3afe5c31ca04a5df70d3a3c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 29 Mar 2018 12:03:21 +1100
Subject: [PATCH] Tracker: GCS_MAVLink takes care of mavlink capabilities

---
 AntennaTracker/GCS_Mavlink.cpp  | 7 +++++++
 AntennaTracker/GCS_Mavlink.h    | 1 +
 AntennaTracker/Tracker.h        | 3 ---
 AntennaTracker/capabilities.cpp | 7 -------
 AntennaTracker/system.cpp       | 2 --
 5 files changed, 8 insertions(+), 12 deletions(-)
 delete mode 100644 AntennaTracker/capabilities.cpp

diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index c9e3e90841..0696ef7c65 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/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
diff --git a/AntennaTracker/GCS_Mavlink.h b/AntennaTracker/GCS_Mavlink.h
index 0c11f46867..fda4513635 100644
--- a/AntennaTracker/GCS_Mavlink.h
+++ b/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;
 
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index c698cd7803..9f626b3c40 100644
--- a/AntennaTracker/Tracker.h
+++ b/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);
diff --git a/AntennaTracker/capabilities.cpp b/AntennaTracker/capabilities.cpp
deleted file mode 100644
index 2999fb6477..0000000000
--- a/AntennaTracker/capabilities.cpp
+++ /dev/null
@@ -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);
-}
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index 5f2ebbe3f7..251e3a32c2 100644
--- a/AntennaTracker/system.cpp
+++ b/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();