Add magnetometer thermal compensation.

src/drivers/magnetometer/isentek/ist8308/IST8308.cpp

@@ -220,6 +220,13 @@ void IST8308::RunImpl()
 					perf_count(_bad_register_perf);
 					Reset();
 				}
+
+			} else {
+				// periodically update temperature (~1 Hz)
+				if (hrt_elapsed_time(&_temperature_update_timestamp) >= 1_s) {
+					UpdateTemperature();
+					_temperature_update_timestamp = now;
+				}
 			}
 		}
 
@@ -291,3 +298,15 @@ void IST8308::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t cle
 		RegisterWrite(reg, val);
 	}
 }
+
+void IST8308::UpdateTemperature()
+{
+	// Isentek magnetometers do not have a temperature sensor, so we will to use the baro's value.
+	sensor_baro_s sensor_baro;
+
+	if (_sensor_baro_sub[0].update(&sensor_baro)) {
+		if (PX4_ISFINITE(sensor_baro.temperature)) {
+			_px4_mag.set_temperature(sensor_baro.temperature);
+		}
+	}
+}

src/drivers/magnetometer/isentek/ist8308/IST8308.hpp

@@ -46,7 +46,10 @@
 #include <lib/drivers/device/i2c.h>
 #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
 #include <lib/perf/perf_counter.h>
+#include <lib/sensor_calibration/Barometer.hpp>
 #include <px4_platform_common/i2c_spi_buses.h>
+#include <uORB/SubscriptionMultiArray.hpp>
+#include <uORB/topics/sensor_baro.h>
 
 using namespace iSentek_IST8308;
 
@@ -61,9 +64,17 @@ public:
 	void RunImpl();
 
 	int init() override;
+
 	void print_status() override;
 
 private:
+	enum class STATE : uint8_t {
+		RESET,
+		WAIT_FOR_RESET,
+		CONFIGURE,
+		READ,
+	} _state{STATE::RESET};
+
 	// Sensor Configuration
 	struct register_config_t {
 		Register reg;
@@ -80,9 +91,15 @@ private:
 	bool RegisterCheck(const register_config_t &reg_cfg);
 
 	uint8_t RegisterRead(Register reg);
+
 	void RegisterWrite(Register reg, uint8_t value);
+
 	void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
 
+	void UpdateTemperature();
+
+	uORB::SubscriptionMultiArray<sensor_baro_s, calibration::Barometer::MAX_SENSOR_COUNT> _sensor_baro_sub{ORB_ID::sensor_baro};
+
 	PX4Magnetometer _px4_mag;
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
@@ -91,17 +108,14 @@ private:
 
 	hrt_abstime _reset_timestamp{0};
 	hrt_abstime _last_config_check_timestamp{0};
+	hrt_abstime _temperature_update_timestamp{0};
+
 	int _failure_count{0};
 
-	enum class STATE : uint8_t {
-		RESET,
-		WAIT_FOR_RESET,
-		CONFIGURE,
-		READ,
-	} _state{STATE::RESET};
-
 	uint8_t _checked_register{0};
+
 	static constexpr uint8_t size_register_cfg{6};
+
 	register_config_t _register_cfg[size_register_cfg] {
 		// Register               | Set bits, Clear bits
 		{ Register::ACTR,         0, ACTR_BIT::SUSPEND_EN },

src/drivers/magnetometer/isentek/ist8310/IST8310.cpp

@@ -188,6 +188,7 @@ void IST8310::RunImpl()
 
 					_px4_mag.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf));
 					_px4_mag.update(now, x, y, z);
+					UpdateTemperature();
 
 					success = true;
 
@@ -222,6 +223,13 @@ void IST8310::RunImpl()
 					Reset();
 					return;
 				}
+
+			} else {
+				// periodically update temperature (~1 Hz)
+				if (hrt_elapsed_time(&_temperature_update_timestamp) >= 1_s) {
+					UpdateTemperature();
+					_temperature_update_timestamp = now;
+				}
 			}
 
 			// initiate next measurement
@@ -296,3 +304,15 @@ void IST8310::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t cle
 		RegisterWrite(reg, val);
 	}
 }
+
+void IST8310::UpdateTemperature()
+{
+	// Isentek magnetometers do not have a temperature sensor, so we will to use the baro's value.
+	sensor_baro_s sensor_baro;
+
+	if (_sensor_baro_sub[0].update(&sensor_baro)) {
+		if (PX4_ISFINITE(sensor_baro.temperature)) {
+			_px4_mag.set_temperature(sensor_baro.temperature);
+		}
+	}
+}

src/drivers/magnetometer/isentek/ist8310/IST8310.hpp

@@ -46,7 +46,10 @@
 #include <lib/drivers/device/i2c.h>
 #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
 #include <lib/perf/perf_counter.h>
+#include <lib/sensor_calibration/Barometer.hpp>
 #include <px4_platform_common/i2c_spi_buses.h>
+#include <uORB/SubscriptionMultiArray.hpp>
+#include <uORB/topics/sensor_baro.h>
 
 using namespace iSentek_IST8310;
 
@@ -61,9 +64,18 @@ public:
 	void RunImpl();
 
 	int init() override;
+
 	void print_status() override;
 
 private:
+	enum class STATE : uint8_t {
+		RESET,
+		WAIT_FOR_RESET,
+		CONFIGURE,
+		MEASURE,
+		READ,
+	} _state{STATE::RESET};
+
 	// Sensor Configuration
 	struct register_config_t {
 		Register reg;
@@ -80,9 +92,15 @@ private:
 	bool RegisterCheck(const register_config_t &reg_cfg);
 
 	uint8_t RegisterRead(Register reg);
+
 	void RegisterWrite(Register reg, uint8_t value);
+
 	void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
 
+	void UpdateTemperature();
+
+	uORB::SubscriptionMultiArray<sensor_baro_s, calibration::Barometer::MAX_SENSOR_COUNT> _sensor_baro_sub{ORB_ID::sensor_baro};
+
 	PX4Magnetometer _px4_mag;
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
@@ -91,18 +109,14 @@ private:
 
 	hrt_abstime _reset_timestamp{0};
 	hrt_abstime _last_config_check_timestamp{0};
+	hrt_abstime _temperature_update_timestamp{0};
+
 	int _failure_count{0};
 
-	enum class STATE : uint8_t {
-		RESET,
-		WAIT_FOR_RESET,
-		CONFIGURE,
-		MEASURE,
-		READ,
-	} _state{STATE::RESET};
-
 	uint8_t _checked_register{0};
+
 	static constexpr uint8_t size_register_cfg{4};
+
 	register_config_t _register_cfg[size_register_cfg] {
 		// Register               | Set bits, Clear bits
 		{ Register::CNTL2,        0, CNTL2_BIT::SRST },