From d250442e68c1109497ae3363f8905aa871ee6325 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 29 Mar 2018 12:31:23 +1100
Subject: [PATCH] AP_AdvancedFailsafe: GCS_MAVLink takes care of mavlink
 capabilities

---
 libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp | 2 --
 libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h   | 2 ++
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
index fe93590862..c4aa22a73c 100644
--- a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
+++ b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
@@ -156,8 +156,6 @@ 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) {
diff --git a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
index b7ba803ad1..77f2b8a04a 100644
--- a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
+++ b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
@@ -65,6 +65,8 @@ public:
             _saved_wp = 0;
         }
 
+    bool enabled() { return _enable; }
+
     // check that everything is OK
     void check(uint32_t last_heartbeat_ms, bool geofence_breached, uint32_t last_valid_rc_ms);