Plane: GCS_MAVLink takes care of mavlink capabilities

ArduPlane/GCS_Mavlink.cpp

@@ -1478,3 +1478,18 @@ bool GCS_MAVLINK_Plane::set_mode(const uint8_t mode)
     }
     return false;
 }
+
+uint64_t GCS_MAVLINK_Plane::capabilities() const
+{
+    return (MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT |
+            MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT |
+            MAV_PROTOCOL_CAPABILITY_COMMAND_INT |
+            MAV_PROTOCOL_CAPABILITY_MISSION_INT |
+            MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT |
+            MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET |
+#if AP_TERRAIN_AVAILABLE
+            (plane.terrain.enabled() ? MAV_PROTOCOL_CAPABILITY_TERRAIN : 0) |
+#endif
+            MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION |
+            GCS_MAVLINK::capabilities());
+}

ArduPlane/GCS_Mavlink.h

@@ -39,6 +39,7 @@ protected:
 
     bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
     bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
+    uint64_t capabilities() const override;
 
     void send_nav_controller_output() const override;
 

ArduPlane/Plane.h

@@ -1032,7 +1032,6 @@ private:
     bool verify_command_callback(const AP_Mission::Mission_Command& cmd);
     void notify_flight_mode(enum FlightMode mode);
     void log_init();
-    void init_capabilities(void);
     void parachute_check();
 #if PARACHUTE == ENABLED
     void do_parachute(const AP_Mission::Mission_Command& cmd);

ArduPlane/capabilities.cpp

@@ -1,13 +0,0 @@
-#include "Plane.h"
-
-void Plane::init_capabilities(void)
-{
-    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT |
-                               MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT |
-                               MAV_PROTOCOL_CAPABILITY_COMMAND_INT |
-                               MAV_PROTOCOL_CAPABILITY_MISSION_INT |
-                               MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT |
-                               MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET |
-                               MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION);
-
-}

ArduPlane/system.cpp

@@ -27,8 +27,6 @@ void Plane::init_ardupilot()
                         AP::fwversion().fw_string,
                         (unsigned)hal.util->available_memory());
 
-    init_capabilities();
-
     //
     // Check the EEPROM format version before loading any parameters from EEPROM
     //