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sensors: prefix mag config param SENS instead of CAL (#20723)

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* sensors: prefix mag config param SENS instead of CAL
* mag sides: keep CAL_MAG_SIDES required by QGC
This commit is contained in:
Mathieu Bresciani
2023-01-12 15:42:36 +01:00
committed by GitHub
parent 635daeed8a
commit 767fcb2774
4 changed files with 33 additions and 8 deletions
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src/modules/commander/mag_calibration.cpp
+4 -4
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@@ -106,7 +106,7 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
// Collect: As defined by configuration
// start with a full mask, all six bits set
int32_t cal_mask = (1 << 6) - 1;
param_get(param_find("CAL_MAG_SIDES"), &cal_mask);
param_get(param_find("SENS_MAG_SIDES"), &cal_mask);
// Calibrate all mags at the same time
if (result == PX4_OK) {
@@ -696,10 +696,10 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
// Attempt to automatically determine external mag rotations
if (result == calibrate_return_ok) {
int32_t param_cal_mag_rot_auto = 0;
param_get(param_find("CAL_MAG_ROT_AUTO"), &param_cal_mag_rot_auto);
int32_t param_sens_mag_autorot = 0;
param_get(param_find("SENS_MAG_AUTOROT"), &param_sens_mag_autorot);
if ((worker_data.calibration_sides >= 3) && (param_cal_mag_rot_auto == 1)) {
if ((worker_data.calibration_sides >= 3) && (param_sens_mag_autorot == 1)) {
// find first internal mag to use as reference
int internal_index = -1;