From 68edf07f6e980ceea9fc871429adff4348304e8f Mon Sep 17 00:00:00 2001
From: Arthur Golubtsov <goldartt@gmail.com>
Date: Mon, 27 Apr 2020 15:36:08 +0300
Subject: [PATCH] Add fcu_sys_id argument to clover.launch and mavros.launch to
 set up target_system_id parameter in mavros

---
 clover/launch/clover.launch | 2 ++
 clover/launch/mavros.launch | 4 ++++
 2 files changed, 6 insertions(+)

diff --git a/clover/launch/clover.launch b/clover/launch/clover.launch
index 61a03084..97f623dd 100644
--- a/clover/launch/clover.launch
+++ b/clover/launch/clover.launch
@@ -1,6 +1,7 @@
 <launch>
     <arg name="fcu_conn" default="usb"/>
     <arg name="fcu_ip" default="127.0.0.1"/>
+    <arg name="fcu_sys_id" default="1"/>
     <arg name="gcs_bridge" default="tcp"/>
     <arg name="web_video_server" default="true"/>
     <arg name="rosbridge" default="true"/>
@@ -19,6 +20,7 @@
     <include file="$(find clover)/launch/mavros.launch">
         <arg name="fcu_conn" value="$(arg fcu_conn)"/>
         <arg name="fcu_ip" value="$(arg fcu_ip)"/>
+        <arg name="fcu_sys_id" value="$(arg fcu_sys_id)"/>
         <arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
     </include>
 
diff --git a/clover/launch/mavros.launch b/clover/launch/mavros.launch
index cafac876..1eea4558 100644
--- a/clover/launch/mavros.launch
+++ b/clover/launch/mavros.launch
@@ -1,6 +1,7 @@
 <launch>
     <arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl -->
     <arg name="fcu_ip" default="127.0.0.1"/>
+    <arg name="fcu_sys_id" default="1"/>
     <arg name="gcs_bridge" default="tcp"/>
     <arg name="viz" default="true"/>
     <arg name="respawn" default="true"/>
@@ -19,6 +20,9 @@
         <!-- sitl since PX4 1.9.0 -->
         <param name="fcu_url" value="udp://@$(arg fcu_ip):14580" if="$(eval fcu_conn == 'sitl')"/>
 
+        <!-- set target_system_id -->
+        <param name="target_system_id" value="$(arg fcu_sys_id)" />
+
         <!-- gcs bridge -->
         <param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
         <param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>