fix(plane): ArdupilotPlaneMode cast bug fix

asv-soft · Nov 13, 2023 · e8ac11d · e8ac11d
1 parent 4dcbcec
commit e8ac11d
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Showing 3 changed files with 6 additions and 5 deletions.
diff --git a/src/Asv.Mavlink/Devices/Vehicles/Client/Ardupilot/ArduPlaneClient.cs b/src/Asv.Mavlink/Devices/Vehicles/Client/Ardupilot/ArduPlaneClient.cs
@@ -60,8 +60,8 @@ public override Task SetAutoMode(CancellationToken cancel = default)
     public override IEnumerable<IVehicleMode> AvailableModes => ArdupilotPlaneMode.AllModes;
     protected override IVehicleMode? InternalInterpretMode(HeartbeatPayload heartbeatPayload)
     {
-        return AvailableModes.Cast<ArdupilotCopterMode>()
-            .FirstOrDefault(_ => _.CustomMode == (CopterMode)heartbeatPayload.CustomMode);
+        return AvailableModes.Cast<ArdupilotPlaneMode>()
+            .FirstOrDefault(_ => _.CustomMode == (PlaneMode)heartbeatPayload.CustomMode);
     }
 
     public override Task SetVehicleMode(IVehicleMode mode, CancellationToken cancel = default)

diff --git a/src/Asv.Mavlink/Devices/Vehicles/Client/Ardupilot/ArducopterClient.cs b/src/Asv.Mavlink/Devices/Vehicles/Client/Ardupilot/ArducopterClient.cs
@@ -11,11 +11,13 @@
 using Asv.Mavlink.V2.Ardupilotmega;
 using Asv.Mavlink.V2.Common;
 using Asv.Mavlink.V2.Minimal;
+using NLog;
 
 namespace Asv.Mavlink;
 
 public class ArduCopterClient:ArduVehicle
 {
+    public static readonly Logger _logger = LogManager.GetCurrentClassLogger(); 
     public ArduCopterClient(IMavlinkV2Connection connection, MavlinkClientIdentity identity, VehicleClientConfig config, IPacketSequenceCalculator seq, IScheduler? scheduler = null) 
         : base(connection, identity, config, seq, scheduler)
     {
@@ -37,7 +39,7 @@ protected override async Task<string> GetCustomName(CancellationToken cancel)
         }
         catch (Exception e)
         {
-            // ignored
+            _logger.Error($"Error to get vehicle name:{e.Message}");
         }
 
         return $"Arducopter [{Identity.TargetSystemId:00},{Identity.TargetComponentId:00}]";

diff --git a/src/Asv.Mavlink/Devices/Vehicles/Client/Ardupilot/ArdupilotFrameTypeEnum.cs b/src/Asv.Mavlink/Devices/Vehicles/Client/Ardupilot/ArdupilotFrameTypeEnum.cs
@@ -2,7 +2,6 @@ namespace Asv.Mavlink
 {
     public enum ArdupilotFrameTypeEnum
     {
-        Unknown,
         Plus = 0,
         X = 1,
         V = 2,
@@ -17,7 +16,7 @@ public enum ArdupilotFrameTypeEnum
         I = 15,
         BetaFlightXReversed = 18,
         Y4 = 19,
-
+        Unknown,
     }
 
     public enum ArdupilotFrameClassEnum