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AP_Compass: AK8963: check bus results when calibrating

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_calibrate() put the device into fuse-ROM access mode and read the three
sensitivity adjustment values, but ignored the result of both transfers.
It then computed _magnetometer_ASA from the buffer and returned true
regardless, so a failed read left the driver calibrating from stack
garbage, and a failed mode change left it calibrating from whatever the
registers hold outside fuse-ROM mode.  Either way its one caller was
told the calibration had succeeded.

Return false when either transfer fails, which the caller already
handles.  The driver's other two register_write() calls already
propagate their result.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
This commit is contained in:
Peter Barker
2026-08-27 14:01:54 +10:00
committed by Peter Barker
co-authored by Claude Opus 5
parent b3d9979f06
commit 712cdc7825
1 changed files with 10 additions and 2 deletions
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libraries/AP_Compass/AP_Compass_AK8963.cpp
+10 -2
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@@ -257,11 +257,19 @@ bool AP_Compass_AK8963::_reset()
bool AP_Compass_AK8963::_calibrate()
{
/* Enable FUSE-mode in order to be able to read calibration data */
_bus->register_write(AK8963_CNTL1, AK8963_FUSE_MODE | AK8963_16BIT_ADC);
if (!_bus->register_write(AK8963_CNTL1, AK8963_FUSE_MODE | AK8963_16BIT_ADC)) {
// without fuse-ROM access mode the sensitivity adjustment
// registers do not hold the calibration data
return false;
}
uint8_t response[3];
_bus->block_read(AK8963_ASAX, response, 3);
if (!_bus->block_read(AK8963_ASAX, response, 3)) {
// the sensitivity adjustment values were not read; response is
// undefined, so do not calibrate from it
return false;
}
for (int i = 0; i < 3; i++) {
float data = response[i];