From 1200a138122b07f3c87f097bab254d6d5b91bfbc Mon Sep 17 00:00:00 2001
From: ES-Alexander <sandman.esalexander@gmail.com>
Date: Wed, 30 Aug 2023 18:26:08 +1000
Subject: [PATCH 1/2] dvl-a50: mavlink2resthelper: fix incorrect IDs

- `system_id` set to match the vehicle ID, since they should be part of the same system
- `component_id` set to 197 (`MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY`)
---
 dvl-a50/mavlink2resthelper.py | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/dvl-a50/mavlink2resthelper.py b/dvl-a50/mavlink2resthelper.py
index 9f29166..4013ddd 100644
--- a/dvl-a50/mavlink2resthelper.py
+++ b/dvl-a50/mavlink2resthelper.py
@@ -30,8 +30,8 @@ def __init__(self, vehicle: int = 1, component: int = 1):
         self.vision_template = """
 {{
   "header": {{
-    "system_id": 255,
-    "component_id": 0,
+    "system_id": """ + str(vehicle) + """,
+    "component_id": 197,
     "sequence": 0
   }},
   "message": {{
@@ -55,8 +55,8 @@ def __init__(self, vehicle: int = 1, component: int = 1):
         self.vision_speed_estimate_template = """
         {{
   "header": {{
-    "system_id": 255,
-    "component_id": 0,
+    "system_id": """ + str(vehicle) + """,
+    "component_id": 197,
     "sequence": 0
   }},
   "message": {{
@@ -83,8 +83,8 @@ def __init__(self, vehicle: int = 1, component: int = 1):
         self.global_vision_position_estimate_template = """
 {{
   "header": {{
-    "system_id": 255,
-    "component_id": 0,
+    "system_id": """ + str(vehicle) + """,
+    "component_id": 197,
     "sequence": 0
   }},
   "message": {{
@@ -126,8 +126,8 @@ def __init__(self, vehicle: int = 1, component: int = 1):
         self.gps_origin_template = """
 {{
   "header": {{
-    "system_id": 255,
-    "component_id": 0,
+    "system_id": """ + str(vehicle) + """,
+    "component_id": 197,
     "sequence": 0
   }},
   "message": {{
@@ -144,8 +144,8 @@ def __init__(self, vehicle: int = 1, component: int = 1):
         self.rangefinder_template = """
 {{
   "header": {{
-    "system_id": 255,
-    "component_id": 0,
+    "system_id": """ + str(vehicle) + """,
+    "component_id": 197,
     "sequence": 0
   }},
   "message": {{
@@ -177,8 +177,8 @@ def __init__(self, vehicle: int = 1, component: int = 1):
         self.statustext_template = """
 {{
   "header": {{
-    "system_id": 1,
-    "component_id": 1,
+    "system_id": """ + str(vehicle) + """,
+    "component_id": 197,
     "sequence": 0
   }},
   "message": {{

From 0aca939cc7a6b05b5ce82c8f4f21fc7d09ef9fde Mon Sep 17 00:00:00 2001
From: ES-Alexander <sandman.esalexander@gmail.com>
Date: Thu, 28 Nov 2024 02:03:47 +1100
Subject: [PATCH 2/2] format with black to make CI happy

---
 dvl-a50/mavlink2resthelper.py | 48 ++++++++++++++++++++++++++---------
 1 file changed, 36 insertions(+), 12 deletions(-)

diff --git a/dvl-a50/mavlink2resthelper.py b/dvl-a50/mavlink2resthelper.py
index 4013ddd..27c3037 100644
--- a/dvl-a50/mavlink2resthelper.py
+++ b/dvl-a50/mavlink2resthelper.py
@@ -27,10 +27,13 @@ def __init__(self, vehicle: int = 1, component: int = 1):
         self.component = component
         # store vision template data so we don't need to fetch it multiple times
         self.start_time = time.time()
-        self.vision_template = """
+        self.vision_template = (
+            """
 {{
   "header": {{
-    "system_id": """ + str(vehicle) + """,
+    "system_id": """
+            + str(vehicle)
+            + """,
     "component_id": 197,
     "sequence": 0
   }},
@@ -51,11 +54,15 @@ def __init__(self, vehicle: int = 1, component: int = 1):
     "confidence": {confidence}
   }}
 }}"""
+        )
 
-        self.vision_speed_estimate_template = """
+        self.vision_speed_estimate_template = (
+            """
         {{
   "header": {{
-    "system_id": """ + str(vehicle) + """,
+    "system_id": """
+            + str(vehicle)
+            + """,
     "component_id": 197,
     "sequence": 0
   }},
@@ -79,11 +86,15 @@ def __init__(self, vehicle: int = 1, component: int = 1):
     "reset_counter": 0
   }}
 }}"""
+        )
 
-        self.global_vision_position_estimate_template = """
+        self.global_vision_position_estimate_template = (
+            """
 {{
   "header": {{
-    "system_id": """ + str(vehicle) + """,
+    "system_id": """
+            + str(vehicle)
+            + """,
     "component_id": 197,
     "sequence": 0
   }},
@@ -122,11 +133,15 @@ def __init__(self, vehicle: int = 1, component: int = 1):
     "reset_counter": {reset_counter}
   }}
 }}"""
+        )
 
-        self.gps_origin_template = """
+        self.gps_origin_template = (
+            """
 {{
   "header": {{
-    "system_id": """ + str(vehicle) + """,
+    "system_id": """
+            + str(vehicle)
+            + """,
     "component_id": 197,
     "sequence": 0
   }},
@@ -140,11 +155,15 @@ def __init__(self, vehicle: int = 1, component: int = 1):
   }}
 }}
         """
+        )
 
-        self.rangefinder_template = """
+        self.rangefinder_template = (
+            """
 {{
   "header": {{
-    "system_id": """ + str(vehicle) + """,
+    "system_id": """
+            + str(vehicle)
+            + """,
     "component_id": 197,
     "sequence": 0
   }},
@@ -174,10 +193,14 @@ def __init__(self, vehicle: int = 1, component: int = 1):
   }}
 }}
 """
-        self.statustext_template = """
+        )
+        self.statustext_template = (
+            """
 {{
   "header": {{
-    "system_id": """ + str(vehicle) + """,
+    "system_id": """
+            + str(vehicle)
+            + """,
     "component_id": 197,
     "sequence": 0
   }},
@@ -192,6 +215,7 @@ def __init__(self, vehicle: int = 1, component: int = 1):
   }}
 }}
 """
+        )
 
     def get_float(self, path: str, vehicle: Optional[int] = None, component: Optional[int] = None) -> float:
         """