From 1ac5ac6c668f0d755910804049a5cb7615f665fa Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 5 Aug 2021 11:20:29 +0200
Subject: [PATCH 1/2] core: fix is_server_armed check

Found by AppleClang.
---
 src/core/mavsdk_impl.cpp | 2 +-
 src/core/mavsdk_impl.h   | 2 +-
 src/core/system_impl.cpp | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/core/mavsdk_impl.cpp b/src/core/mavsdk_impl.cpp
index 7d2b8857bb..905996cf8a 100644
--- a/src/core/mavsdk_impl.cpp
+++ b/src/core/mavsdk_impl.cpp
@@ -641,7 +641,7 @@ void MavsdkImpl::set_base_mode(uint8_t base_mode)
     _base_mode = base_mode;
 }
 
-bool MavsdkImpl::get_base_mode() const
+uint8_t MavsdkImpl::get_base_mode() const
 {
     return _base_mode;
 }
diff --git a/src/core/mavsdk_impl.h b/src/core/mavsdk_impl.h
index e03e049dd1..2b1ed0c135 100644
--- a/src/core/mavsdk_impl.h
+++ b/src/core/mavsdk_impl.h
@@ -86,7 +86,7 @@ class MavsdkImpl {
     MAVLinkAddress own_address{};
 
     void set_base_mode(uint8_t base_mode);
-    bool get_base_mode() const;
+    uint8_t get_base_mode() const;
     void set_custom_mode(uint32_t custom_mode);
     uint32_t get_custom_mode() const;
 
diff --git a/src/core/system_impl.cpp b/src/core/system_impl.cpp
index 1ca580d180..c59808e04a 100644
--- a/src/core/system_impl.cpp
+++ b/src/core/system_impl.cpp
@@ -1381,7 +1381,7 @@ void SystemImpl::set_server_armed(bool armed)
 
 bool SystemImpl::is_server_armed() const
 {
-    return _parent.get_base_mode() & (MAV_MODE_FLAG_SAFETY_ARMED == MAV_MODE_FLAG_SAFETY_ARMED);
+    return (_parent.get_base_mode() & MAV_MODE_FLAG_SAFETY_ARMED) == MAV_MODE_FLAG_SAFETY_ARMED;
 }
 
 void SystemImpl::set_custom_mode(uint32_t custom_mode)

From 0178ded06d8b05d33c1440ec702810b72bea65fb Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 5 Aug 2021 15:32:25 +0200
Subject: [PATCH 2/2] mission_raw_server: match types for sequence

---
 .../mission_raw_server/mission_raw_server_impl.cpp        | 8 ++++----
 src/plugins/mission_raw_server/mission_raw_server_impl.h  | 6 +++---
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/plugins/mission_raw_server/mission_raw_server_impl.cpp b/src/plugins/mission_raw_server/mission_raw_server_impl.cpp
index 524e3a96d4..b0a61b38f4 100644
--- a/src/plugins/mission_raw_server/mission_raw_server_impl.cpp
+++ b/src/plugins/mission_raw_server/mission_raw_server_impl.cpp
@@ -310,7 +310,7 @@ void MissionRawServerImpl::set_current_item_complete()
         _parent->get_own_system_id(),
         _parent->get_own_component_id(),
         &mission_reached,
-        _current_seq);
+        static_cast<uint16_t>(_current_seq));
     _parent->send_message(mission_reached);
     if (_current_seq + 1 == _current_mission.size()) {
         _mission_completed = true;
@@ -320,7 +320,7 @@ void MissionRawServerImpl::set_current_item_complete()
     }
 }
 
-void MissionRawServerImpl::set_current_seq(uint16_t seq)
+void MissionRawServerImpl::set_current_seq(std::size_t seq)
 {
     if (_current_mission.size() <= static_cast<size_t>(seq)) {
         return;
@@ -337,8 +337,8 @@ void MissionRawServerImpl::set_current_seq(uint16_t seq)
         _parent->get_own_system_id(),
         _parent->get_own_component_id(),
         &mission_current,
-        _current_seq);
+        static_cast<uint16_t>(_current_seq));
     _parent->send_message(mission_current);
 }
 
-} // namespace mavsdk
\ No newline at end of file
+} // namespace mavsdk
diff --git a/src/plugins/mission_raw_server/mission_raw_server_impl.h b/src/plugins/mission_raw_server/mission_raw_server_impl.h
index 1fdb82dbaf..02f06bcde1 100644
--- a/src/plugins/mission_raw_server/mission_raw_server_impl.h
+++ b/src/plugins/mission_raw_server/mission_raw_server_impl.h
@@ -41,7 +41,7 @@ class MissionRawServerImpl : public PluginImplBase {
     std::atomic<bool> _stop_work_thread = false;
 
     std::vector<MAVLinkMissionTransfer::ItemInt> _current_mission;
-    uint16_t _current_seq;
+    std::size_t _current_seq;
 
     struct MissionData {
         mutable std::recursive_mutex mutex{};
@@ -66,7 +66,7 @@ class MissionRawServerImpl : public PluginImplBase {
         MAVLinkMissionTransfer::Result result,
         const std::vector<MAVLinkMissionTransfer::ItemInt>& int_items);
 
-    void set_current_seq(uint16_t seq);
+    void set_current_seq(std::size_t seq);
 
     void add_task(std::function<void()> task)
     {
@@ -82,4 +82,4 @@ class MissionRawServerImpl : public PluginImplBase {
     bool _enable_absolute_gimbal_yaw_angle{true};
 };
 
-} // namespace mavsdk
\ No newline at end of file
+} // namespace mavsdk