From b6e54d927dc2c0dd091bd1133665820153fbecb6 Mon Sep 17 00:00:00 2001
From: Andras Schaffer <eosbandi@gmail.com>
Date: Mon, 23 Aug 2021 00:37:35 +0200
Subject: [PATCH] fix coax and single copter firmware type setting

---
 Common.cs                                     | 11 ++++++-----
 ExtLibs/ArduPilot/Mavlink/MAVLinkInterface.cs |  4 +++-
 2 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/Common.cs b/Common.cs
index a77719d285..253e0cfbcf 100644
--- a/Common.cs
+++ b/Common.cs
@@ -65,6 +65,12 @@ public static GMapMarker getMAVMarker(MAVState MAV)
                 return (new GMapMarkerAntennaTracker(portlocation, MAV.cs.yaw,
                     MAV.cs.target_bearing){ Tag = MAV});
             }
+            else if (MAV.aptype == MAVLink.MAV_TYPE.COAXIAL)
+            {
+                return (new GMapMarkerSingle(portlocation, MAV.cs.yaw,
+                   MAV.cs.groundcourse, MAV.cs.nav_bearing, MAV.sysid)
+                { Tag = MAV });
+            }
             else if (MAV.cs.firmware == Firmwares.ArduCopter2 || MAV.aptype == MAVLink.MAV_TYPE.QUADROTOR)
             {
                 if (MAV.param.ContainsKey("AVD_W_DIST_XY") && MAV.param.ContainsKey("AVD_F_DIST_XY"))
@@ -88,11 +94,6 @@ public static GMapMarker getMAVMarker(MAVState MAV)
                     Tag = MAV
                 });
             }
-            else if (MAV.aptype == MAVLink.MAV_TYPE.COAXIAL)
-            {
-                return (new GMapMarkerSingle(portlocation, MAV.cs.yaw,
-                   MAV.cs.groundcourse, MAV.cs.nav_bearing, MAV.sysid){ Tag = MAV});
-            }
             else
             {
                 // unknown type
diff --git a/ExtLibs/ArduPilot/Mavlink/MAVLinkInterface.cs b/ExtLibs/ArduPilot/Mavlink/MAVLinkInterface.cs
index 7a229674ee..502d8db56f 100644
--- a/ExtLibs/ArduPilot/Mavlink/MAVLinkInterface.cs
+++ b/ExtLibs/ArduPilot/Mavlink/MAVLinkInterface.cs
@@ -6297,7 +6297,9 @@ public void setAPType(byte sysid, byte compid)
                         case MAV_TYPE.ANTENNA_TRACKER:
                             MAVlist[sysid, compid].cs.firmware = Firmwares.ArduTracker;
                             break;
-
+                        case MAV_TYPE.COAXIAL:
+                            MAVlist[sysid, compid].cs.firmware = Firmwares.ArduCopter2;
+                            break;
                         default:
                             MAVlist[sysid, compid].cs.firmware = Firmwares.Other;
                             log.Error(MAVlist[sysid, compid].aptype + " not registered as valid type");