From 200aacea43168da1bb469f6f7690a1866969fd75 Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Fri, 2 Feb 2018 12:20:19 -0700
Subject: [PATCH] AP_AdvancedFailsafe: Report
 MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION

---
 libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
index 1071258938..d7fc3e9439 100644
--- a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
+++ b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
@@ -156,6 +156,9 @@ AP_AdvancedFailsafe::check(uint32_t last_heartbeat_ms, bool geofence_breached, u
     if (!_enable) {
         return;
     }
+    // only set the termination capability, clearing it can mess up copter and sub which can always be terminated
+    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION);
+
     // we always check for fence breach
     if(_enable_geofence_fs) {
         if (geofence_breached || check_altlimit()) {