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mavlink: add sysid to UUID

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To avoid that multiple SITL instances have the same UUID we add the
mavlink system ID to the UUID which is sent via mavlink.

This should resolve the case where multiple vehicles show up with the
same UUID in simulation.

Note that the UUID show in `ver` will still be the same for all
instances.
This commit is contained in:
Julian Oes 2018-07-27 10:29:47 +02:00 committed by Lorenz Meier
parent 83c0888d80
commit 462cf131d5
1 changed files with 8 additions and 0 deletions
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8
src/modules/mavlink/mavlink_main.cpp
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@ -1310,6 +1310,14 @@ void Mavlink::send_autopilot_capabilites()
board_get_uuid32(uid);
msg.uid = (((uint64_t)uid[PX4_CPU_UUID_WORD32_UNIQUE_M]) << 32) | uid[PX4_CPU_UUID_WORD32_UNIQUE_H];
#ifdef CONFIG_ARCH_BOARD_SITL
// To avoid that multiple SITL instances have the same UUID, we add the mavlink
// system ID. We subtract 1, so that the first UUID remains unchanged given the
// default system ID is 1.
//
// Note that the UUID show in `ver` will still be the same for all instances.
msg.uid += mavlink_system.sysid - 1;
#endif
mavlink_msg_autopilot_version_send_struct(get_channel(), &msg);
}
}