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ArduSubFirmwarePlugin: Add ArduSub capabilities

QGC4.4
dheideman 8 years ago committed by Willian Galvani
parent
commit
63a986249a
  1. 6
      src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
  2. 2
      src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h

6
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc

@ -174,6 +174,12 @@ void ArduSubFirmwarePlugin::initializeStreamRates(Vehicle* vehicle) { @@ -174,6 +174,12 @@ void ArduSubFirmwarePlugin::initializeStreamRates(Vehicle* vehicle) {
vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA3, 3);
}
bool ArduSubFirmwarePlugin::isCapable(const Vehicle* vehicle, FirmwareCapabilities capabilities)
{
Q_UNUSED(vehicle);
uint32_t available = SetFlightModeCapability | PauseVehicleCapability;
return (capabilities & available) == capabilities;
}
bool ArduSubFirmwarePlugin::supportsThrottleModeCenterZero(void)
{

2
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h

@ -117,6 +117,8 @@ public: @@ -117,6 +117,8 @@ public:
void initializeStreamRates(Vehicle* vehicle) override final;
bool isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities) final;
bool supportsThrottleModeCenterZero(void) final;
bool supportsRadio(void) final;

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