GCS_MAVLink: announce capabilities compass-cal and param float for all vehicles

5 years ago · b9dbfff0d0
1 changed files with 2 additions and 1 deletions
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@ -4685,7 +4685,8 @@ bool GCS_MAVLINK::mavlink_coordinate_frame_to_location_alt_frame(const MAV_FRAME
				@@ -4685,7 +4685,8 @@ bool GCS_MAVLINK::mavlink_coordinate_frame_to_location_alt_frame(const MAV_FRAME

 uint64_t GCS_MAVLINK::capabilities() const
 {
-    uint64_t ret = 0;
+    uint64_t ret = MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT |
+        MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION;

    AP_SerialManager::SerialProtocol mavlink_protocol = AP::serialmanager().get_mavlink_protocol(chan);
    if (mavlink_protocol == AP_SerialManager::SerialProtocol_MAVLink2) {