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AP_Terrain: GCS_MAVLink takes care of mavlink capabilities

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Peter Barker 2018-03-29 12:04:27 +11:00 committed by Peter Barker
parent 7b80f56a80
commit 1b4a2c4d6b
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_Terrain/AP_Terrain.cpp
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@ -320,7 +320,6 @@ void AP_Terrain::update(void)
// update capabilities and status // update capabilities and status
if (allocate()) { if (allocate()) {
hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_TERRAIN);
if (!pos_valid) { if (!pos_valid) {
// we don't know where we are // we don't know where we are
system_status = TerrainStatusUnhealthy; system_status = TerrainStatusUnhealthy;
@ -331,7 +330,6 @@ void AP_Terrain::update(void)
system_status = TerrainStatusOK; system_status = TerrainStatusOK;
} }
} else { } else {
hal.util->clear_capabilities(MAV_PROTOCOL_CAPABILITY_TERRAIN);
system_status = TerrainStatusDisabled; system_status = TerrainStatusDisabled;
} }

2
libraries/AP_Terrain/AP_Terrain.h
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@ -92,6 +92,8 @@ public:
// update terrain state. Should be called at 1Hz or more // update terrain state. Should be called at 1Hz or more
void update(void); void update(void);
bool enabled() const { return enable; }
// return status enum for health reporting // return status enum for health reporting
enum TerrainStatus status(void) const { return system_status; } enum TerrainStatus status(void) const { return system_status; }