Tools: adjust tooling to use MAV_SYSID

Author: peterbarker

Tools/autotest/default_params/vee-gull_005.param

@@ -741,7 +741,7 @@ SYS_NUM_RESETS,1
 SYSID_ENFORCE,0
 SYSID_MYGCS,255
 SYSID_SW_TYPE,0
-SYSID_THISMAV,1
+MAV_SYSID,1
 TECS_APPR_SMAX,0
 TECS_CLMB_MAX,5
 TECS_HGT_OMEGA,3

Tools/autotest/sim_vehicle.py

@@ -1333,7 +1333,7 @@ def generate_frame_help():
 group_sim.add_option("", "--sysid",
                      type='int',
                      default=None,
-                     help="Set SYSID_THISMAV")
+                     help="Set MAV_SYSID")
 group_sim.add_option("--postype-single",
                      action='store_true',
                      help="force single precision postype_t")
@@ -1350,7 +1350,7 @@ def generate_frame_help():
 group_sim.add_option("", "--auto-sysid",
                      default=False,
                      action='store_true',
-                     help="Set SYSID_THISMAV based upon instance number")
+                     help="Set MAV_SYSID based upon instance number")
 group_sim.add_option("", "--sim-address",
                      type=str,
                      default="127.0.0.1",

Tools/autotest/unittest/extract_param_defaults_unittest.py

@@ -243,9 +243,9 @@ def test_output_params_qgcs_2_4(self, mock_print):
         mock_print.assert_has_calls(expected_calls, any_order=False)
 
     @patch('extract_param_defaults.print')
-    def test_output_params_qgcs_SYSID_THISMAV(self, mock_print):
+    def test_output_params_qgcs_MAV_SYSID(self, mock_print):
         # Prepare a dummy defaults dictionary
-        defaults = {'PARAM2': 2.0, 'PARAM1': 1.0, 'SYSID_THISMAV': 3.0}
+        defaults = {'PARAM2': 2.0, 'PARAM1': 1.0, 'MAV_SYSID': 3.0}
 
         # Call the function with the dummy dictionary, 'qgcs' format type and 'qgcs' sort type
         defaults = sort_params(defaults, 'qgcs')
@@ -255,13 +255,13 @@ def test_output_params_qgcs_SYSID_THISMAV(self, mock_print):
         expected_calls = [unittest.mock.call("\n# # Vehicle-Id Component-Id Name Value Type\n"),
                           unittest.mock.call("%u %u %-15s %.6f %u" % (3, 7, 'PARAM1', 1.0, 9)),
                           unittest.mock.call("%u %u %-15s %.6f %u" % (3, 7, 'PARAM2', 2.0, 9)),
-                          unittest.mock.call("%u %u %-15s %.6f %u" % (3, 7, 'SYSID_THISMAV', 3.0, 9))]
+                          unittest.mock.call("%u %u %-15s %.6f %u" % (3, 7, 'MAV_SYSID', 3.0, 9))]
         mock_print.assert_has_calls(expected_calls, any_order=False)
 
     @patch('extract_param_defaults.print')
     def test_output_params_qgcs_SYSID_INVALID(self, mock_print):
         # Prepare a dummy defaults dictionary
-        defaults = {'PARAM2': 2.0, 'PARAM1': 1.0, 'SYSID_THISMAV': -1.0}
+        defaults = {'PARAM2': 2.0, 'PARAM1': 1.0, 'MAV_SYSID': -1.0}
 
         # Assert that a SystemExit is raised with the correct message when an invalid sysid is used
         with self.assertRaises(SystemExit) as cm:

Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py

@@ -633,7 +633,7 @@ def generate_launch_arguments() -> List[DeclareLaunchArgument]:
             DeclareLaunchArgument(
                 "sysid",
                 default_value="",
-                description="Set SYSID_THISMAV.",
+                description="Set MAV_SYSID.",
             ),
         ]
 

Tools/scripts/extract_param_defaults.py

@@ -47,7 +47,7 @@ def parse_arguments(args=None):
                         help='Display version information and exit.',
                         )
     parser.add_argument('-i', '--sysid', type=int, default=-1,
-                        help='System ID for qgcs output format. Defaults to SYSID_THISMAV if defined else 1.',
+                        help='System ID for qgcs output format. Defaults to MAV_SYSID if defined else 1.',
                         )
     parser.add_argument('-c', '--compid', type=int, default=-1,
                         help='Component ID for qgcs output format. Defaults to 1.',
@@ -160,8 +160,8 @@ def output_params(defaults: Dict[str, float], format_type: str = 'missionplanner
     """
     if format_type == "qgcs":
         if sysid == -1:
-            if 'SYSID_THISMAV' in defaults:
-                sysid = defaults['SYSID_THISMAV']
+            if 'MAV_SYSID' in defaults:
+                sysid = defaults['MAV_SYSID']
             else:
                 sysid = 1  # if unspecified, default to 1
         if compid == -1: