From 12de0d85ddabdddc71d27ab97ad7f852ebe565e3 Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Wed, 20 Mar 2024 14:04:55 -0300
Subject: [PATCH] Sub: sync MAVLink system id in 1hz loop

---
 ArduSub/ArduSub.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index c3ba73b891..7a27140460 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -271,6 +271,9 @@ void Sub::three_hz_loop()
 // one_hz_loop - runs at 1Hz
 void Sub::one_hz_loop()
 {
+    // sync MAVLink system ID
+    mavlink_system.sysid = g.sysid_this_mav;
+
     bool arm_check = arming.pre_arm_checks(false);
     ap.pre_arm_check = arm_check;
     AP_Notify::flags.pre_arm_check = arm_check;