change sysid and component id

tiiuae · Nov 7, 2023 · e8aedeb · e8aedeb
1 parent 58cf3a2
commit e8aedeb
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Showing 2 changed files with 7 additions and 6 deletions.
diff --git a/src/gazebo_mavlink_interface.cpp b/src/gazebo_mavlink_interface.cpp
@@ -281,9 +281,9 @@ void GazeboMavlinkInterface::PoseCallback(const gz::msgs::Pose_V &_msg){
       hil_state_quat.alt = pose_position.z() * 1e3;
 
       mavlink_message_t msg;
-      mavlink_msg_hil_state_quaternion_encode_chan(1, 200, MAVLINK_COMM_0, &msg, &hil_state_quat);
+      mavlink_msg_hil_state_quaternion_encode_chan(254, 25, MAVLINK_COMM_0, &msg, &hil_state_quat);
       // Override default global mavlink channel status with instance specific status
-      mavlink_interface_->FinalizeOutgoingMessage(&msg, 1, 200,
+      mavlink_interface_->FinalizeOutgoingMessage(&msg, 254, 25,
         MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN,
         MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN,
         MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
@@ -369,9 +369,9 @@ void GazeboMavlinkInterface::GpsCallback(const gz::msgs::NavSat &_msg) {
 
   // send HIL_GPS Mavlink msg
   mavlink_message_t msg;
-  mavlink_msg_hil_gps_encode_chan(1, 200, MAVLINK_COMM_0, &msg, &hil_gps_msg);
+  mavlink_msg_hil_gps_encode_chan(254, 25, MAVLINK_COMM_0, &msg, &hil_gps_msg);
   // Override default global mavlink channel status with instance specific status
-  mavlink_interface_->FinalizeOutgoingMessage(&msg, 1, 200,
+  mavlink_interface_->FinalizeOutgoingMessage(&msg, 254, 25,
     MAVLINK_MSG_ID_HIL_GPS_MIN_LEN,
     MAVLINK_MSG_ID_HIL_GPS_LEN,
     MAVLINK_MSG_ID_HIL_GPS_CRC);

diff --git a/src/mavlink_interface.cpp b/src/mavlink_interface.cpp
@@ -335,13 +335,14 @@ void MavlinkInterface::SendSensorMessages(uint64_t time_usec) {
   sensor_msg_mutex_.unlock();
 
   mavlink_message_t msg;
-  mavlink_msg_hil_sensor_encode_chan(1, 200, MAVLINK_COMM_0, &msg, &sensor_msg);
+  mavlink_msg_hil_sensor_encode_chan(254, 25, MAVLINK_COMM_0, &msg, &sensor_msg);
   // Override default global mavlink channel status with instance specific status
-  FinalizeOutgoingMessage(&msg, 1, 200,
+  FinalizeOutgoingMessage(&msg, 254, 25,
     MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN,
     MAVLINK_MSG_ID_HIL_SENSOR_LEN,
     MAVLINK_MSG_ID_HIL_SENSOR_CRC);
   auto msg_shared = std::make_shared<mavlink_message_t>(msg);
+  std::cout << "SendSensorMessages from" << msg_shared->sysid << std::endl;
   PushSendMessage(msg_shared);
 }