SITL: use distinct source system for gimbal

gimbal was sending mavlink into ArduPilot with the target system's own sysid/compid tuple. ArduPilot was simply discarding these as its own messages being looped back to it
ArduPilot · Jul 20, 2024 · 2584cfd · 2584cfd
1 parent 16a9e53
commit 2584cfd
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/libraries/SITL/SIM_Gimbal.cpp b/libraries/SITL/SIM_Gimbal.cpp
@@ -237,7 +237,7 @@ void Gimbal::param_send(const struct gimbal_param *p)
     param_value.param_type = MAV_PARAM_TYPE_REAL32;
 
     uint16_t len = mavlink_msg_param_value_encode_status(vehicle_system_id,
-                                                         vehicle_component_id,
+                                                         gimbal_component_id,
                                                          &mavlink.status,
                                                          &msg, &param_value);
 
@@ -364,7 +364,7 @@ void Gimbal::send_report(void)
         heartbeat.custom_mode = 0;
 
         len = mavlink_msg_heartbeat_encode_status(vehicle_system_id,
-                                                  vehicle_component_id,
+                                                  gimbal_component_id,
                                                   &mavlink.status,
                                                   &msg, &heartbeat);
 
@@ -394,7 +394,7 @@ void Gimbal::send_report(void)
         gimbal_report.joint_az = joint_angles.z;
 
         len = mavlink_msg_gimbal_report_encode_status(vehicle_system_id,
-                                                      vehicle_component_id,
+                                                      gimbal_component_id,
                                                       &mavlink.status,
                                                       &msg, &gimbal_report);
 

diff --git a/libraries/SITL/SIM_Gimbal.h b/libraries/SITL/SIM_Gimbal.h
@@ -113,6 +113,9 @@ class Gimbal {
     uint32_t param_send_last_ms;
     uint8_t param_send_idx;
 
+    // component ID we send from:
+    const uint8_t gimbal_component_id = 154;  // MAV_COMP_ID_GIMBAL
+
     void send_report(void);
     void param_send(const struct gimbal_param *p);
     struct gimbal_param *param_find(const char *name);