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feat(mag_cal): disable internal mag before performing calibration

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This avoids sending warning messages and failing the calibration for a
mag that we anyway disable at the end.
This commit is contained in:
bresch
2026-04-30 14:51:00 +02:00
committed by Mathieu Bresciani
parent e7e359a09d
commit 2b97e2269b
1 changed files with 18 additions and 14 deletions
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src/modules/commander/mag_calibration.cpp
+18 -14
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@@ -540,6 +540,24 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
return calibrate_return_error;
}
// if any external mag is enabled, disable the internal mags as they should not be used for navigation
bool has_enabled_external = false;
for (uint8_t cur_mag = 0; cur_mag < MAX_MAGS; cur_mag++) {
if (worker_data.calibration[cur_mag].external() && worker_data.calibration[cur_mag].enabled()) {
has_enabled_external = true;
break;
}
}
if (has_enabled_external) {
for (uint8_t cur_mag = 0; cur_mag < MAX_MAGS; cur_mag++) {
if (!worker_data.calibration[cur_mag].external()) {
worker_data.calibration[cur_mag].disable();
}
}
}
if (result == calibrate_return_ok) {
result = calibrate_from_orientation(mavlink_log_pub, // uORB handle to write output
worker_data.side_data_collected, // Sides to calibrate
@@ -923,15 +941,6 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
bool param_save = false;
bool failed = true;
bool external_mag_available = false;
for (unsigned cur_mag = 0; cur_mag < MAX_MAGS; cur_mag++) {
if (worker_data.calibration[cur_mag].external() && worker_data.calibration[cur_mag].enabled()) {
external_mag_available = true;
break;
}
}
for (unsigned cur_mag = 0; cur_mag < MAX_MAGS; cur_mag++) {
calibration::Magnetometer &current_cal = worker_data.calibration[cur_mag];
@@ -950,11 +959,6 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
current_cal.set_offdiagonal(offdiag[cur_mag]);
}
if (external_mag_available && !current_cal.external()) {
// automatically disable the internal mags as they should not be used for navigation
current_cal.disable();
}
current_cal.PrintStatus();
if (current_cal.ParametersSave(cur_mag, true)) {