From 7789e2de88533986d73db01774f6ca0e9b25a12b Mon Sep 17 00:00:00 2001
From: Burak Saruhan <h.buraksaruhan@gmail.com>
Date: Wed, 31 Jul 2019 22:22:59 +0300
Subject: [PATCH] sensors: mag reload calibration parameters when first seen
 (#12586)

* fixes UAVCAN MAG calibration application after reboot
---
 src/modules/sensors/voted_sensors_update.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp
index 4ddc4a3ed2..dd874fe9e3 100644
--- a/src/modules/sensors/voted_sensors_update.cpp
+++ b/src/modules/sensors/voted_sensors_update.cpp
@@ -764,6 +764,9 @@ void VotedSensorsUpdate::mag_poll(vehicle_magnetometer_s &magnetometer)
 				int32_t priority = 0;
 				orb_priority(_mag.subscription[uorb_index], &priority);
 				_mag.priority[uorb_index] = (uint8_t)priority;
+
+				/* force a scale and offset update the first time we get data */
+				parameters_update();
 			}
 
 			matrix::Vector3f vect(mag_report.x, mag_report.y, mag_report.z);