From d99c85c1fe0df81bb60fbe32866f3f106e0f36bd Mon Sep 17 00:00:00 2001
From: squilter <s.quilter@aol.com>
Date: Fri, 31 Jul 2015 15:30:03 -0700
Subject: [PATCH] Tracker: init vehicle capabilities

---
 AntennaTracker/Tracker.h        | 1 +
 AntennaTracker/capabilities.cpp | 8 ++++++++
 AntennaTracker/system.cpp       | 2 ++
 3 files changed, 11 insertions(+)
 create mode 100644 AntennaTracker/capabilities.cpp

diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 3cbe7342ec..484a2ee21b 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -244,6 +244,7 @@ private:
     void tracking_manual_control(const mavlink_manual_control_t &msg);
     void update_armed_disarmed();
     void gcs_send_text_fmt(const prog_char_t *fmt, ...);
+    void init_capabilities(void);
 
 public:
     void mavlink_snoop(const mavlink_message_t* msg);
diff --git a/AntennaTracker/capabilities.cpp b/AntennaTracker/capabilities.cpp
new file mode 100644
index 0000000000..7af0df6307
--- /dev/null
+++ b/AntennaTracker/capabilities.cpp
@@ -0,0 +1,8 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+#include "Tracker.h"
+
+void Tracker::init_capabilities(void)
+{
+    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT);
+}
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index 4c441d5b72..faff36e0dc 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -102,6 +102,8 @@ void Tracker::init_tracker()
         get_home_eeprom(current_loc);
     }
 
+    init_capabilities();
+
     gcs_send_text_P(SEVERITY_LOW,PSTR("\nReady to track."));
     hal.scheduler->delay(1000); // Why????