Rover: fixed the build for MAVLink 1.0

I have no idea if it will actually work, but at least it builds

APMrover2/GCS_Mavlink.pde

@@ -48,15 +48,14 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
     case FLY_BY_WIRE_A:
     case FLY_BY_WIRE_B:
     case FLY_BY_WIRE_C:
-        base_mode = MAV_MODE_FLAG_LEARNING_ENABLED;
+        base_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
         break;
     case AUTO:
     case RTL:
     case LOITER:
     case GUIDED:
     case CIRCLE:
-        base_mode = MAV_MODE_FLAG_GUIDED_ENABLED |
-                    MAV_MODE_FLAG_LEARNING_ENABLED;
+        base_mode = MAV_MODE_FLAG_GUIDED_ENABLED;
         // note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
         // APM does in any mode, as that is defined as "system finds its own goal
         // positions", which APM does not currently do
@@ -66,11 +65,6 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
         break;
     }
 
-    if (control_mode != MANUAL && control_mode != INITIALISING) {
-        // stabiliser of some form is enabled
-        base_mode |= MAV_MODE_FLAG_LEARNING_ENABLED;
-    }
-
 #if ENABLE_STICK_MIXING==ENABLED
     if (control_mode != INITIALISING) {
         // all modes except INITIALISING have some form of manual

APMrover2/commands_logic.pde

@@ -268,13 +268,21 @@ static bool verify_land()
 {
 }
 
+static void calc_turn_radius(void)    // JLN update - adjut automaticaly the wp_radius Vs the speed and the turn angle
+{
+  wp_radius = ground_speed * 150 / g.roll_limit.get();
+  //Serial.println(wp_radius, DEC);
+}
+
+
 static bool verify_nav_wp()
 {
 	hold_course = -1;
 	update_crosstrack();
 
         if(g.auto_wp_radius) 
-        { calc_turn_radius();  // JLN update - auto-adap the wp_radius Vs the gspeed and max roll angle
+        { 
+            calc_turn_radius();  // JLN update - auto-adap the wp_radius Vs the gspeed and max roll angle
 
           if ((wp_distance > 0) && (wp_distance <= wp_radius)) {
 		gcs_send_text_fmt(PSTR("Reached Waypoint #%i"),nav_command_index);

APMrover2/navigation.pde

@@ -102,12 +102,6 @@ static long wrap_180(long error)
 	return error;
 }
 
-static void calc_turn_radius()    // JLN update - adjut automaticaly the wp_radius Vs the speed and the turn angle
-{
-  wp_radius = ground_speed * 150 / g.roll_limit.get();
-  //Serial.println(wp_radius, DEC);
-}
-
 static void update_loiter()
 {
 	float power;

APMrover2/system.pde

@@ -209,7 +209,7 @@ static void init_ardupilot()
 
 	//mavlink_system.sysid = MAV_SYSTEM_ID;				// Using g.sysid_this_mav
 	mavlink_system.compid = 1;	//MAV_COMP_ID_IMU;   // We do not check for comp id
-	mavlink_system.type = MAV_GROUND;
+	mavlink_system.type = MAV_TYPE_GROUND_ROVER;
 
 	rc_override_active = APM_RC.setHIL(rc_override);		// Set initial values for no override