gps add device_id

src/modules/mavlink/mavlink_receiver.cpp

@@ -2232,6 +2232,12 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
 
 	sensor_gps_s gps{};
 
+	device::Device::DeviceId device_id{};
+	device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_MAVLINK;
+	device_id.devid_s.address = msg->sysid;
+	device_id.devid_s.devtype = DRV_GPS_DEVTYPE_SIM;
+	gps.device_id = device_id.devid;
+
 	gps.lat = hil_gps.lat;
 	gps.lon = hil_gps.lon;
 	gps.alt = hil_gps.alt;

src/modules/sih/sih.cpp

@@ -46,6 +46,7 @@
 #include <px4_platform_common/log.h>
 
 #include <drivers/drv_pwm_output.h>         // to get PWM flags
+#include <lib/drivers/device/Device.hpp>
 
 using namespace math;
 using namespace matrix;
@@ -364,6 +365,14 @@ void Sih::send_gps()
 		gps_no_fix();
 	}
 
+	// device id
+	device::Device::DeviceId device_id;
+	device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_SIMULATION;
+	device_id.devid_s.bus = 0;
+	device_id.devid_s.address = 0;
+	device_id.devid_s.devtype = DRV_GPS_DEVTYPE_SIM;
+	_sensor_gps.device_id = device_id.devid;
+
 	_sensor_gps_pub.publish(_sensor_gps);
 }
 

src/modules/simulator/simulator_mavlink.cpp

@@ -44,6 +44,7 @@
 #include <drivers/drv_pwm_output.h>
 #include <conversion/rotation.h>
 #include <mathlib/mathlib.h>
+#include <lib/drivers/device/Device.hpp>
 
 #include <arpa/inet.h>
 #include <errno.h>
@@ -432,6 +433,14 @@ void Simulator::handle_message_hil_gps(const mavlink_message_t *msg)
 			if (_sensor_gps_pubs[i] == nullptr) {
 				_sensor_gps_pubs[i] = new uORB::PublicationMulti<sensor_gps_s> {ORB_ID(sensor_gps)};
 				_gps_ids[i] = hil_gps.id;
+
+				device::Device::DeviceId device_id;
+				device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_SIMULATION;
+				device_id.devid_s.bus = 0;
+				device_id.devid_s.address = i;
+				device_id.devid_s.devtype = DRV_GPS_DEVTYPE_SIM;
+				gps.device_id = device_id.devid;
+
 				_sensor_gps_pubs[i]->publish(gps);
 				break;
 			}