From 26367517d16568356d23e90368a9fd54db541b48 Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Fri, 7 Apr 2017 16:52:48 -0400
Subject: [PATCH] Add GuidedModeCapability to ArduPlane fw plugin

---
 src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc | 9 +++++++++
 src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h  | 1 +
 2 files changed, 10 insertions(+)

diff --git a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
index 996551e100..c621be81a4 100644
--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
@@ -86,3 +86,12 @@ int ArduPlaneFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVer
     // Remapping supports up to 3.8
     return majorVersionNumber == 3 ? 8 : Vehicle::versionNotSetValue;
 }
+
+bool ArduPlaneFirmwarePlugin::isCapable(const Vehicle* vehicle, FirmwareCapabilities capabilities)
+{
+    Q_UNUSED(vehicle);
+
+    uint32_t vehicleCapabilities = SetFlightModeCapability | GuidedModeCapability | PauseVehicleCapability;
+
+    return (capabilities & vehicleCapabilities) == capabilities;
+}
diff --git a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
index dfa4340813..ab038b804c 100644
--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
@@ -59,6 +59,7 @@ public:
     QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Plane.OfflineEditing.params"); }
     const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
     int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const final;
+    bool isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities) final;
 
 private:
     static bool _remapParamNameIntialized;
-- 
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