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Plane: init vehicle capabilities

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squilter 2015-07-31 15:39:36 -07:00 committed by Randy Mackay
parent 328332d6c0
commit 7c575b251a
3 changed files with 12 additions and 0 deletions
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1
ArduPlane/Plane.h
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@ -914,6 +914,7 @@ private:
void log_init(); void log_init();
uint32_t millis() const; uint32_t millis() const;
uint32_t micros() const; uint32_t micros() const;
void init_capabilities(void);
public: public:
void mavlink_delay_cb(); void mavlink_delay_cb();

9
ArduPlane/capabilities.cpp Normal file
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@ -0,0 +1,9 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Plane.h"
void Plane::init_capabilities(void)
{
hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT);
hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT);
}

2
ArduPlane/system.cpp
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@ -235,6 +235,8 @@ void Plane::init_ardupilot()
} }
#endif // CLI_ENABLED #endif // CLI_ENABLED
init_capabilities();
startup_ground(); startup_ground();
Log_Write_Startup(TYPE_GROUNDSTART_MSG); Log_Write_Startup(TYPE_GROUNDSTART_MSG);