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simulator: fix to set system and component IDs as defined in params

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The simulator had hardcoded component ID and system ID (sysID was 0), ignoring what was set up in the params MAV_SYS_ID and MAV_COMP_ID. This caused an issue with multi-vehicle simulations that that rely on sysID to identify the vehicles.

Signed-off-by: Gabriel Moreno <gabrielm@cs.cmu.edu>
This commit is contained in:
Gabriel Moreno
2019-02-28 14:03:21 -05:00
committed by Lorenz Meier
parent 951f33145f
commit fc7c7ac206
2 changed files with 6 additions and 4 deletions
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4
src/modules/simulator/simulator.h
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@@ -378,7 +378,9 @@ private:
DEFINE_PARAMETERS(
(ParamFloat<px4::params::SIM_BAT_DRAIN>) _battery_drain_interval_s, ///< battery drain interval
(ParamInt<px4::params::MAV_TYPE>) _param_system_type
(ParamInt<px4::params::MAV_TYPE>) _param_system_type,
(ParamInt<px4::params::MAV_SYS_ID>) _param_system_id,
(ParamInt<px4::params::MAV_COMP_ID>) _param_component_id
)
#endif

6
src/modules/simulator/simulator_mavlink.cpp
View File

@@ -184,7 +184,7 @@ void Simulator::send_controls()
const mavlink_hil_actuator_controls_t hil_act_control = actuator_controls_from_outputs(actuators);
mavlink_message_t message{};
mavlink_msg_hil_actuator_controls_encode(0, 200, &message, &hil_act_control);
mavlink_msg_hil_actuator_controls_encode(_param_system_id.get(), _param_component_id.get(), &message, &hil_act_control);
PX4_DEBUG("sending controls t=%ld (%ld)", actuators.timestamp, hil_act_control.time_usec);
@@ -618,7 +618,7 @@ void Simulator::request_hil_state_quaternion()
cmd_long.command = MAV_CMD_SET_MESSAGE_INTERVAL;
cmd_long.param1 = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
cmd_long.param2 = 5e3;
mavlink_msg_command_long_encode(0, 50, &message, &cmd_long);
mavlink_msg_command_long_encode(_param_system_id.get(), _param_component_id.get(), &message, &cmd_long);
send_mavlink_message(message);
}
@@ -628,7 +628,7 @@ void Simulator::send_heartbeat()
mavlink_message_t message = {};
hb.autopilot = 12;
hb.base_mode |= (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) ? 128 : 0;
mavlink_msg_heartbeat_encode(0, 50, &message, &hb);
mavlink_msg_heartbeat_encode(_param_system_id.get(), _param_component_id.get(), &message, &hb);
send_mavlink_message(message);
}