mag sides: re-add CAL_MAG_SIDES required by QGC

PX4 · Jan 10, 2023 · ea706d5 · ea706d5
1 parent 1fa5413
commit ea706d5
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Showing 3 changed files with 26 additions and 1 deletion.
diff --git a/src/modules/sensors/sensor_params_mag.c b/src/modules/sensors/sensor_params_mag.c
@@ -55,6 +55,15 @@
  */
 PARAM_DEFINE_INT32(SENS_MAG_SIDES, 63);
 
+/**
+ * For legacy QGC support only
+ *
+ * Use SENS_MAG_SIDES instead
+ *
+ * @group Sensors
+ */
+PARAM_DEFINE_INT32(CAL_MAG_SIDES, 63);
+
 /**
  * Type of magnetometer compensation
  *

diff --git a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
@@ -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());
 

diff --git a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp
@@ -177,7 +177,9 @@ class VehicleMagnetometer : public ModuleParams, public px4::ScheduledWorkItem
 		(ParamInt<px4::params::CAL_MAG_COMP_TYP>) _param_mag_comp_typ,
 		(ParamBool<px4::params::SENS_MAG_MODE>) _param_sens_mag_mode,
 		(ParamFloat<px4::params::SENS_MAG_RATE>) _param_sens_mag_rate,
-		(ParamBool<px4::params::SENS_MAG_AUTOCAL>) _param_sens_mag_autocal
+		(ParamBool<px4::params::SENS_MAG_AUTOCAL>) _param_sens_mag_autocal,
+		(ParamInt<px4::params::CAL_MAG_SIDES>) _param_cal_mag_sides,
+		(ParamInt<px4::params::SENS_MAG_SIDES>) _param_sens_mag_sides
 	)
 };
 }; // namespace sensors