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core: services: ardupilot_manager: mavlink_proxy: Fix MAVLink Server component and system ID #3592

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Merged
merged 1 commit into from
Oct 13, 2025
Merged

core: services: ardupilot_manager: mavlink_proxy: Fix MAVLink Server component and system ID #3592

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9 changes: 8 additions & 1 deletion core/services/ardupilot_manager/mavlink_proxy/MAVLinkServer.py
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
import os
import re
import subprocess
from typing import Optional
Expand All @@ -10,6 +11,8 @@ class MAVLinkServer(AbstractRouter):
def __init__(self) -> None:
super().__init__()
self.log_path: Optional[str] = None
self.mavlink_system_id: Optional[int] = None
self.mavlink_component_id: Optional[int] = None

def _get_version(self) -> Optional[str]:
binary = self.binary()
Expand Down Expand Up @@ -43,8 +46,12 @@ def convert_endpoint(endpoint: Endpoint) -> str:

if not self.log_path:
self.log_path = "/var/logs/blueos/services/mavlink-server/"
if not self.mavlink_system_id:
self.mavlink_system_id = int(os.environ.get("MAV_SYSTEM_ID", 1))
if not self.mavlink_component_id:
self.mavlink_component_id = int(os.environ.get("MAV_COMPONENT_ID_ONBOARD_COMPUTER", 191))

return f"{self.binary()} {endpoints} --log-path={self.log_path}"
return f"{self.binary()} {endpoints} --mavlink-system-id={self.mavlink_system_id} --mavlink-component-id={self.mavlink_component_id} --log-path={self.log_path}"

@staticmethod
def name() -> str:
Expand Down