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GCS_MAVLink: add optional param to support capability bitmask

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squilter 2015-07-21 09:22:26 -07:00 committed by Randy Mackay
parent 212898d02b
commit c946ce72e8
2 changed files with 2 additions and 3 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -138,7 +138,7 @@ public:
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
void send_opticalflow(AP_AHRS_NavEKF &ahrs, const OpticalFlow &optflow); void send_opticalflow(AP_AHRS_NavEKF &ahrs, const OpticalFlow &optflow);
#endif #endif
void send_autopilot_version(void) const; void send_autopilot_version(uint64_t capabilities = 0) const;
void send_local_position(const AP_AHRS &ahrs) const; void send_local_position(const AP_AHRS &ahrs) const;
void send_vibration(const AP_InertialSensor &ins) const; void send_vibration(const AP_InertialSensor &ins) const;
void send_mission_item_reached(uint16_t seq) const; void send_mission_item_reached(uint16_t seq) const;

3
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1245,9 +1245,8 @@ void GCS_MAVLINK::send_opticalflow(AP_AHRS_NavEKF &ahrs, const OpticalFlow &optf
/* /*
send AUTOPILOT_VERSION packet send AUTOPILOT_VERSION packet
*/ */
void GCS_MAVLINK::send_autopilot_version(void) const void GCS_MAVLINK::send_autopilot_version(uint64_t capabilities) const
{ {
uint16_t capabilities = 0;
uint32_t flight_sw_version = 0; uint32_t flight_sw_version = 0;
uint32_t middleware_sw_version = 0; uint32_t middleware_sw_version = 0;
uint32_t os_sw_version = 0; uint32_t os_sw_version = 0;