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docs(gz_bridge): magnetometer device address documentation (#26940)

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* fix: added comment explaining why dev id address can only be 3 or 4

* fix: change link to point to main px4 repo

* fix: typo

* formatted

* chore: formatting
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Baardrw 2026-04-03 20:31:29 +02:00 committed by GitHub
parent 039ec78d35
commit 115f205cbc
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1 changed files with 5 additions and 2 deletions
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src/modules/simulation/gz_bridge/GZBridge.cpp
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@ -390,7 +390,10 @@ void GZBridge::magnetometerCallback(const gz::msgs::Magnetometer &msg)
id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_SIMULATION;
id.devid_s.devtype = DRV_MAG_DEVTYPE_MAGSIM;
id.devid_s.bus = 1;
id.devid_s.address = 3; // TODO: any value other than 3 causes Commander to not use the mag.... wtf
// Parameters CAL_MAGx_ID set to 0x3030C and 0x3040C in init.d-posix so only address 3 and 4 are valid for sim magnetometers (unless overwritten)
// See: https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/rcS#L146-L149
id.devid_s.address = 3;
sensor_mag_s report{};
report.timestamp = timestamp;
@ -398,7 +401,7 @@ void GZBridge::magnetometerCallback(const gz::msgs::Magnetometer &msg)
report.device_id = id.devid;
report.temperature = this->_temperature;
// FIMEX: once we're on jetty or later
// FIXME: once we're on jetty or later
// The magnetometer plugin publishes in units of gauss and in a weird left handed coordinate system
// https://github.com/gazebosim/gz-sim/pull/2460
report.x = -msg.field_tesla().y();