Mag cal: allow 6, 3 and 2 side calibrations (and anything in-between with bitfields)

src/modules/sensors/sensor_params.c

@@ -687,6 +687,25 @@ PARAM_DEFINE_INT32(CAL_GYRO_PRIME, 0);
  */
 PARAM_DEFINE_INT32(CAL_MAG_PRIME, 0);
 
+/**
+ * Bitfield selecting mag sides for calibration
+ *
+ * DETECT_ORIENTATION_TAIL_DOWN = 1
+ * DETECT_ORIENTATION_NOSE_DOWN = 2
+ * DETECT_ORIENTATION_LEFT = 4
+ * DETECT_ORIENTATION_RIGHT = 8
+ * DETECT_ORIENTATION_UPSIDE_DOWN = 16
+ * DETECT_ORIENTATION_RIGHTSIDE_UP = 32
+ *
+ * @min 34
+ * @max 63
+ * @value 34 Two side calibration
+ * @value 38 Three side calibration
+ * @value 63 Six side calibration
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG_SIDES, 63);
+
 /**
  * Primary baro ID
  *

src/modules/sensors/sensors.cpp

@@ -672,6 +672,7 @@ Sensors::Sensors() :
 	(void)param_find("CAL_MAG0_ROT");
 	(void)param_find("CAL_MAG1_ROT");
 	(void)param_find("CAL_MAG2_ROT");
+	(void)param_find("CAL_MAG_SIDES");
 	(void)param_find("SYS_PARAM_VER");
 	(void)param_find("SYS_AUTOSTART");
 	(void)param_find("SYS_AUTOCONFIG");