From 5c2c48f29df0fe6f9483cb78911734ccb534c41c Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Tue, 3 Feb 2026 10:35:00 +1300
Subject: [PATCH] mavlink: include in lockstep

This is an attempt to get SIH CI tests to be more consistent.
---
 src/modules/mavlink/mavlink_main.cpp | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 2003189297..988e971b12 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -2384,11 +2384,18 @@ Mavlink::task_main(int argc, char *argv[])
 		/* main loop */
 		px4_usleep(_main_loop_delay);
 
+#if defined(ENABLE_LOCKSTEP_SCHEDULER)
+		int lockstep_component = px4_lockstep_register_component();
+#endif
+
 		if (!should_transmit()) {
 			check_requested_subscriptions();
 			handleStatus();
 			handleCommands();
 			handleAndGetCurrentCommandAck();
+#if defined(ENABLE_LOCKSTEP_SCHEDULER)
+			px4_lockstep_unregister_component(lockstep_component);
+#endif
 			continue;
 		}
 
@@ -2520,6 +2527,10 @@ Mavlink::task_main(int argc, char *argv[])
 		}
 
 		perf_end(_loop_perf);
+
+#if defined(ENABLE_LOCKSTEP_SCHEDULER)
+		px4_lockstep_unregister_component(lockstep_component);
+#endif
 	}
 
 	_receiver.stop();