[MSP SENSOR] Apply default rotation inside of the compass MSP driver;…

… Disable baro median filtering by default; Skip autodetection of MSP-based sensors (only manual selection is allowed)

src/main/drivers/barometer/barometer_msp.c

@@ -30,6 +30,7 @@
 #if defined(USE_BARO_MSP)
 
 #include "build/build_config.h"
+#include "build/debug.h"
 
 #include "common/utils.h"
 #include "common/time.h"
@@ -75,7 +76,6 @@ void mspBaroReceiveNewData(uint8_t * bufferPtr)
 
     mspBaroPressure = pkt->pressurePa;
     mspBaroTemperature = pkt->temp;
-
     mspBaroLastUpdateMs = millis();
 }
 

src/main/drivers/compass/compass_msp.c

@@ -39,11 +39,13 @@
 #include "drivers/compass/compass.h"
 #include "drivers/compass/compass_msp.h"
 
+#include "sensors/boardalignment.h"
+
 #include "msp/msp_protocol_v2_sensor_msg.h"
 
 #define MSP_MAG_TIMEOUT_MS      250     // Less than 4Hz updates is considered a failure
 
-static int16_t mspMagData[XYZ_AXIS_COUNT];
+static int32_t mspMagData[XYZ_AXIS_COUNT];
 static timeMs_t mspMagLastUpdateMs;
 
 static bool mspMagInit(magDev_t *magDev)
@@ -64,6 +66,8 @@ void mspMagReceiveNewData(uint8_t * bufferPtr)
     mspMagData[Y] = pkt->magY;
     mspMagData[Z] = pkt->magZ;
 
+    applySensorAlignment(mspMagData, mspMagData, CW90_DEG_FLIP);
+
     mspMagLastUpdateMs = millis();
 }
 

src/main/io/gps_msp.c

@@ -1,18 +1,25 @@
 /*
- * This file is part of Cleanflight.
+ * This file is part of INAV Project.
  *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
  *
- * Cleanflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ * along with this program. If not, see http://www.gnu.org/licenses/.
  */
 
 #include <stdbool.h>

src/main/sensors/barometer.c

@@ -56,7 +56,7 @@
 
 baro_t baro;                        // barometer access functions
 
-PG_REGISTER_WITH_RESET_TEMPLATE(barometerConfig_t, barometerConfig, PG_BAROMETER_CONFIG, 1);
+PG_REGISTER_WITH_RESET_TEMPLATE(barometerConfig_t, barometerConfig, PG_BAROMETER_CONFIG, 2);
 
 #ifdef USE_BARO
 #define BARO_HARDWARE_DEFAULT    BARO_AUTODETECT
@@ -65,7 +65,7 @@ PG_REGISTER_WITH_RESET_TEMPLATE(barometerConfig_t, barometerConfig, PG_BAROMETER
 #endif
 PG_RESET_TEMPLATE(barometerConfig_t, barometerConfig,
     .baro_hardware = BARO_HARDWARE_DEFAULT,
-    .use_median_filtering = 1,
+    .use_median_filtering = 0,
     .baro_calibration_tolerance = 150
 );
 
@@ -190,7 +190,8 @@ bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
 
     case BARO_MSP:
 #ifdef USE_BARO_MSP
-        if (mspBaroDetect(dev)) {
+        // Skip autodetection for MSP baro, only allow manual config
+        if (baroHardwareToUse != BARO_AUTODETECT && mspBaroDetect(dev)) {
             baroHardware = BARO_MSP;
             break;
         }
@@ -364,7 +365,7 @@ int32_t baroCalculateAltitude(void)
 #endif
         // calculates height from ground via baro readings
         baro.BaroAlt = pressureToAltitude(baro.baroPressure) - baroGroundAltitude;
-    }
+   }
 
     return baro.BaroAlt;
 }

src/main/sensors/compass.c

@@ -252,7 +252,8 @@ bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
 
     case MAG_MSP:
 #ifdef USE_MAG_MSP
-        if (mspMagDetect(dev)) {
+        // Skip autodetection for MSP mag
+        if (magHardwareToUse != MAG_AUTODETECT && mspMagDetect(dev)) {
             magHardware = MAG_MSP;
             break;
         }