From 727c12c388fd02d5327fd8d43710ba085b713292 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 12 Feb 2020 12:01:17 +1100
Subject: [PATCH] GCS_MAVLink: move initialisation of serial and gcs to
 AP_Vehicle

---
 libraries/GCS_MAVLink/GCS.cpp                      | 5 +++++
 libraries/GCS_MAVLink/GCS.h                        | 3 +++
 libraries/GCS_MAVLink/GCS_Dummy.h                  | 2 ++
 libraries/GCS_MAVLink/examples/routing/routing.cpp | 1 +
 4 files changed, 11 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
index c9627e2f6e..cb807c1ba5 100644
--- a/libraries/GCS_MAVLink/GCS.cpp
+++ b/libraries/GCS_MAVLink/GCS.cpp
@@ -33,6 +33,11 @@ const MAV_MISSION_TYPE GCS_MAVLINK::supported_mission_types[] = {
     MAV_MISSION_TYPE_FENCE,
 };
 
+void GCS::init()
+{
+    mavlink_system.sysid = sysid_this_mav();
+}
+
 /*
   send a text message to all GCS
  */
diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index d88765421e..4aed6d3d72 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -870,6 +870,7 @@ public:
         return 200;
     }
 
+    void init();
     void setup_console();
     void setup_uarts();
 
@@ -908,6 +909,8 @@ public:
 
 protected:
 
+    virtual uint8_t sysid_this_mav() const = 0;
+
     virtual GCS_MAVLINK *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
                                                  AP_HAL::UARTDriver &uart) = 0;
 
diff --git a/libraries/GCS_MAVLink/GCS_Dummy.h b/libraries/GCS_MAVLink/GCS_Dummy.h
index 057c3f6b79..9ed189c245 100644
--- a/libraries/GCS_MAVLink/GCS_Dummy.h
+++ b/libraries/GCS_MAVLink/GCS_Dummy.h
@@ -64,6 +64,8 @@ public:
 
 protected:
 
+    uint8_t sysid_this_mav() const override { return 1; }
+
     GCS_MAVLINK_Dummy *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
                                                AP_HAL::UARTDriver &uart) override {
         return new GCS_MAVLINK_Dummy(params, uart);
diff --git a/libraries/GCS_MAVLink/examples/routing/routing.cpp b/libraries/GCS_MAVLink/examples/routing/routing.cpp
index 51f3b499ca..8997aa2410 100644
--- a/libraries/GCS_MAVLink/examples/routing/routing.cpp
+++ b/libraries/GCS_MAVLink/examples/routing/routing.cpp
@@ -28,6 +28,7 @@ static MAVLink_routing routing;
 void setup(void)
 {
     hal.console->printf("routing test startup...");
+    gcs().init();
     gcs().setup_console();
 }