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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 09:42:36 -05:00
committed by GitHub
parent 635daeed8a
commit 767fcb2774
4 changed files with 33 additions and 8 deletions
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src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
+16 -2
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@@ -49,8 +49,8 @@ VehicleMagnetometer::VehicleMagnetometer() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
{
param_find("CAL_MAG_SIDES");
param_find("CAL_MAG_ROT_AUTO");
param_find("SENS_MAG_SIDES");
param_find("SENS_MAG_AUTOROT");
_voter.set_timeout(SENSOR_TIMEOUT);
_voter.set_equal_value_threshold(1000);
@@ -98,12 +98,26 @@ bool VehicleMagnetometer::ParametersUpdate(bool force)
{
// Check if parameters have changed
if (_parameter_update_sub.updated() || force) {
const int cal_mag_sides_prev = _param_cal_mag_sides.get();
// clear update
parameter_update_s param_update;
_parameter_update_sub.copy(&param_update);
updateParams();
// Legacy QGC support: CAL_MAG_SIDES required to display the correct UI
// Force it to be a copy of the new SENS_MAG_SIDES
if (_param_cal_mag_sides.get() != _param_sens_mag_sides.get()) {
if (_param_cal_mag_sides.get() != cal_mag_sides_prev) {
// The user tried to change the deprecated parameter
mavlink_log_critical(&_mavlink_log_pub, "CAL_MAG_SIDES deprecated, use SENS_MAG_SIDES\t");
}
_param_cal_mag_sides.set(_param_sens_mag_sides.get());
_param_cal_mag_sides.commit();
}
// Mag compensation type
MagCompensationType mag_comp_typ = static_cast<MagCompensationType>(_param_mag_comp_typ.get());