Copter: GCS_MAVLink takes care of mavlink capabilities

ArduCopter/Copter.h

@@ -658,9 +658,6 @@ private:
     // baro_ground_effect.cpp
     void update_ground_effect_detector(void);
 
-    // capabilities.cpp
-    void init_capabilities(void);
-
     // commands.cpp
     void update_home_from_EKF();
     void set_home_to_current_location_inflight();

ArduCopter/GCS_Mavlink.cpp

@@ -1359,3 +1359,20 @@ float GCS_MAVLINK_Copter::vfr_hud_alt() const
     }
     return GCS_MAVLINK::vfr_hud_alt();
 }
+
+uint64_t GCS_MAVLINK_Copter::capabilities() const
+{
+    return (MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT |
+            MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT |
+            MAV_PROTOCOL_CAPABILITY_MISSION_INT |
+            MAV_PROTOCOL_CAPABILITY_COMMAND_INT |
+            MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED |
+            MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT |
+            MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION |
+            MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET |
+#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
+            (copter.terrain.enabled() ? MAV_PROTOCOL_CAPABILITY_TERRAIN : 0) |
+#endif
+            MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION |
+            GCS_MAVLINK::capabilities());
+}

ArduCopter/GCS_Mavlink.h

@@ -40,6 +40,7 @@ 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;
     void send_nav_controller_output() const override;
+    uint64_t capabilities() const override;
 
 private:
 

ArduCopter/capabilities.cpp

@@ -1,17 +0,0 @@
-#include "Copter.h"
-
-void Copter::init_capabilities(void)
-{
-    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT |
-                               MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT |
-                               MAV_PROTOCOL_CAPABILITY_MISSION_INT |
-                               MAV_PROTOCOL_CAPABILITY_COMMAND_INT |
-                               MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED |
-                               MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT |
-                               MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION |
-                               MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET |
-                               MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION);
-#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
-    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_TERRAIN);
-#endif
-}

ArduCopter/system.cpp

@@ -28,8 +28,6 @@ void Copter::init_ardupilot()
                         AP::fwversion().fw_string,
                         (unsigned)hal.util->available_memory());
 
-    init_capabilities();
-
     //
     // Report firmware version code expect on console (check of actual EEPROM format version is done in load_parameters function)
     //