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Copter: add capability bitmask

This commit is contained in:
squilter 2015-07-21 15:04:25 -07:00 committed by Randy Mackay
parent c946ce72e8
commit edf5ff1bbe
3 changed files with 20 additions and 2 deletions
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1
ArduCopter/Copter.h
View File

@ -946,6 +946,7 @@ private:
void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode); void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode);
void log_init(void); void log_init(void);
void run_cli(AP_HAL::UARTDriver *port); void run_cli(AP_HAL::UARTDriver *port);
uint64_t get_capabilities(void);
public: public:
void mavlink_delay_cb(); 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: { case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
if (is_equal(packet.param1,1.0f)) { if (is_equal(packet.param1,1.0f)) {
copter.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(); copter.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(copter.get_capabilities());
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} }
break; break;
@ -1714,7 +1714,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
#endif // AC_RALLY == ENABLED #endif // AC_RALLY == ENABLED
case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST: case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
copter.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(); copter.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(copter.get_capabilities());
break; break;
case MAVLINK_MSG_ID_LED_CONTROL: case MAVLINK_MSG_ID_LED_CONTROL:

17
ArduCopter/capabilities.cpp Normal file
View File

@ -0,0 +1,17 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Copter.h"
uint64_t Copter::get_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;
}