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18 lines
857 B
18 lines
857 B
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include "Copter.h" |
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void Copter::init_capabilities(void) |
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{ |
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hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT | |
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MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | |
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MAV_PROTOCOL_CAPABILITY_MISSION_INT | |
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MAV_PROTOCOL_CAPABILITY_COMMAND_INT | |
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MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED | |
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MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT | |
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MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION | |
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MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET); |
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN |
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hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_TERRAIN); |
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#endif |
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}
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