Add supportedMissionCommands

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -389,3 +389,13 @@ void APMFirmwarePlugin::addMetaDataToFact(Fact* fact)
 {
     _parameterMetaData.addMetaDataToFact(fact);
 }
+
+QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
+{
+    QList<MAV_CMD> list;
+
+    // FIXME: Temp list, just dup of PX4
+    list << MAV_CMD_NAV_WAYPOINT << MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TURNS << MAV_CMD_NAV_LOITER_TIME
+         << MAV_CMD_NAV_RETURN_TO_LAUNCH << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF << MAV_CMD_CONDITION_DELAY << MAV_CMD_DO_JUMP;
+    return list;
+}

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -91,6 +91,7 @@ public:
     virtual bool sendHomePositionToVehicle(void);
     virtual void addMetaDataToFact(Fact* fact);
     virtual QString getDefaultComponentIdParam(void) const { return QString("SYSID_SW_TYPE"); }
+    virtual QList<MAV_CMD> supportedMissionCommands(void);
 
 protected:
     /// All access to singleton is through stack specific implementation

src/FirmwarePlugin/FirmwarePlugin.h

@@ -109,6 +109,9 @@ public:
 
     /// Adds the parameter meta data to the Fact
     virtual void addMetaDataToFact(Fact* fact) = 0;
+
+    /// List of supported mission commands. Empty list for all commands supported.
+    virtual QList<MAV_CMD> supportedMissionCommands(void) = 0;
 };
 
 #endif

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc

@@ -118,3 +118,9 @@ void GenericFirmwarePlugin::addMetaDataToFact(Fact* fact)
     FactMetaData* metaData = new FactMetaData(fact->type(), fact);
     fact->setMetaData(metaData);
 }
+
+QList<MAV_CMD> GenericFirmwarePlugin::supportedMissionCommands(void)
+{
+    // Generic supports all commands
+    return QList<MAV_CMD>();
+}

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h

@@ -47,6 +47,7 @@ public:
     virtual bool sendHomePositionToVehicle(void);
     virtual void addMetaDataToFact(Fact* fact);
     virtual QString getDefaultComponentIdParam(void) const { return QString(); }
+    virtual QList<MAV_CMD> supportedMissionCommands(void);
 };
 
 #endif

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -207,3 +207,12 @@ void PX4FirmwarePlugin::addMetaDataToFact(Fact* fact)
 {
     _parameterMetaData.addMetaDataToFact(fact);
 }
+
+QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
+{
+    QList<MAV_CMD> list;
+
+    list << MAV_CMD_NAV_WAYPOINT << MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TURNS << MAV_CMD_NAV_LOITER_TIME
+         << MAV_CMD_NAV_RETURN_TO_LAUNCH << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF << MAV_CMD_CONDITION_DELAY << MAV_CMD_DO_JUMP;
+    return list;
+}

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -47,6 +47,7 @@ public:
     virtual bool sendHomePositionToVehicle(void);
     virtual void addMetaDataToFact(Fact* fact);
     virtual QString getDefaultComponentIdParam(void) const { return QString("SYS_AUTOSTART"); }
+    virtual QList<MAV_CMD> supportedMissionCommands(void);
 
 private:
     PX4ParameterMetaData    _parameterMetaData;