Plane: init vehicle capabilities

ArduPlane/Plane.h

@@ -914,6 +914,7 @@ private:
     void log_init();
     uint32_t millis() const;
     uint32_t micros() const;
+    void init_capabilities(void);
 
 public:
     void mavlink_delay_cb();

ArduPlane/capabilities.cpp

@@ -0,0 +1,9 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+#include "Plane.h"
+
+void Plane::init_capabilities(void)
+{
+    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT);
+    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT);
+}

ArduPlane/system.cpp

@@ -235,6 +235,8 @@ void Plane::init_ardupilot()
     }
 #endif // CLI_ENABLED
 
+    init_capabilities();
+
     startup_ground();
     Log_Write_Startup(TYPE_GROUNDSTART_MSG);