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

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>

src/modules/simulator/simulator.h

@@ -378,7 +378,9 @@ class Simulator : public ModuleParams
 
 	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

src/modules/simulator/simulator_mavlink.cpp

@@ -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);
 }