From df5e0733352c9f8d6392815d0200fd9ffcfa46a2 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Fri, 16 Sep 2016 13:09:11 -0700
Subject: [PATCH] Only add supported commands

---
 src/MissionManager/MissionCommandTree.cc | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/MissionManager/MissionCommandTree.cc b/src/MissionManager/MissionCommandTree.cc
index 2c6e4fed8..fa74a7049 100644
--- a/src/MissionManager/MissionCommandTree.cc
+++ b/src/MissionManager/MissionCommandTree.cc
@@ -101,6 +101,11 @@ void MissionCommandTree::_collapseHierarchy(Vehicle*
     _baseVehicleInfo(vehicle, baseFirmwareType, baseVehicleType);
 
     foreach (MAV_CMD command, cmdList->commandIds()) {
+        // Only add supported command to tree (MAV_CMD_NAV_LAST is used for planned home position)
+        if (!vehicle->firmwarePlugin()->supportedMissionCommands().contains(command) && command != MAV_CMD_NAV_LAST) {
+            continue;
+        }
+
         MissionCommandUIInfo* uiInfo = cmdList->getUIInfo(command);
         if (uiInfo) {
             if (collapsedTree.contains(command)) {
-- 
2.22.0