From 63a986249a9e60b87ef7723073e18a8d8c41deb5 Mon Sep 17 00:00:00 2001
From: dheideman <dheideman@socal.rr.com>
Date: Fri, 20 Oct 2017 15:26:13 -0700
Subject: [PATCH] ArduSubFirmwarePlugin: Add ArduSub capabilities

---
 src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc | 6 ++++++
 src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h  | 2 ++
 2 files changed, 8 insertions(+)

diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
index 60b5e9d87..62af025a5 100644
--- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
@@ -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)
 {
diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
index 577bd5284..1d69bfbfb 100644
--- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
@@ -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;
-- 
2.22.0