Copter: add capability bitmask

ArduCopter/Copter.h

@@ -946,6 +946,7 @@ private:
     void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode);
     void log_init(void);
     void run_cli(AP_HAL::UARTDriver *port);
+    uint64_t get_capabilities(void);
 
 public:
     void mavlink_delay_cb();

ArduCopter/GCS_Mavlink.cpp

@@ -1416,7 +1416,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
         case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
             if (is_equal(packet.param1,1.0f)) {
-                copter.gcs[chan-MAVLINK_COMM_0].send_autopilot_version();
+                copter.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(copter.get_capabilities());
                 result = MAV_RESULT_ACCEPTED;
             }
             break;
@@ -1714,7 +1714,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 #endif // AC_RALLY == ENABLED
 
     case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
-        copter.gcs[chan-MAVLINK_COMM_0].send_autopilot_version();
+        copter.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(copter.get_capabilities());
         break;
 
     case MAVLINK_MSG_ID_LED_CONTROL:

ArduCopter/capabilities.cpp

@@ -0,0 +1,17 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+#include "Copter.h"
+
+uint64_t Copter::get_capabilities(void)
+{
+    uint64_t capabilities = MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT
+                 | MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT
+                 | MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED
+                 | MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT;
+
+    #if AP_TERRAIN_AVAILABLE
+        capabilities |= MAV_PROTOCOL_CAPABILITY_TERRAIN;
+    #endif
+
+    return capabilities;
+}