support mag power compensation with battery_status instance 1

src/lib/mag_compensation/MagCompensation.cpp

@@ -48,13 +48,6 @@ MagCompensator::MagCompensator(ModuleParams *parent):
 void MagCompensator::calculate_mag_corrected(matrix::Vector3f &mag, const matrix::Vector3f &param_vect)
 {
 	if (_armed) {
-		int type = _param_mag_compensation_type.get();
-
-		if (type == CompensationType::THROTTLE) {
-			mag = mag + param_vect * _throttle; //for param [gauss]
-
-		} else if (type == CompensationType::CURRENT) {
-			mag = mag + param_vect * _battery_current * 0.001; //for param [gauss/kA]
-		}
+		mag = mag + param_vect * _power;
 	}
 }

src/lib/mag_compensation/MagCompensation.hpp

@@ -53,26 +53,11 @@ public:
 
 	void update_armed_flag(bool armed) { _armed = armed; }
 
-	void update_throttle(float throttle) { _throttle = throttle; }
-
-	void update_current(float battery_current) { _battery_current = battery_current; }
+	void update_power(float power) { _power = power; }
 
 	void calculate_mag_corrected(matrix::Vector3f &mag, const matrix::Vector3f &param_vect);
 
 private:
-
-	enum CompensationType {
-		DISABLED = 0,
-		THROTTLE,
-		CURRENT
-	};
-
-	float _throttle{0};
-	float _battery_current{0};
+	float _power{0};
 	bool _armed{false};
-
-	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::CAL_MAG_COMP_TYP>) _param_mag_compensation_type
-	)
-
 };

src/lib/mag_compensation/mag_compensation_params.c

@@ -35,7 +35,8 @@
  *
  * @value 0 Disabled
  * @value 1 Throttle-based compensation
- * @value 2 Current-based compensation
+ * @value 2 Current-based compensation (battery_status instance 0)
+ * @value 3 Current-based compensation (battery_status instance 1)
  *
  * @category system
  * @group Sensor Calibration