ConfigHWCompass: surface MAG_CAL_BAD_OFFSETS/BAD_DIAG_SCALING/BAD_FITNESS failure codes#3722
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ConfigHWCompass: surface MAG_CAL_BAD_OFFSETS/BAD_DIAG_SCALING/BAD_FITNESS failure codes#3722christianpetri wants to merge 4 commits into
christianpetri wants to merge 4 commits into
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…l dialogs ArduPilot/ardupilot#32757 adds three new MAG_CAL_STATUS values sent in MAG_CAL_REPORT.cal_status when calibration fit is rejected: 8 = BAD_OFFSETS - offset component >= COMPASS_OFFS_MAX 9 = BAD_DIAG - diagonal/off-diagonal scaling out of range 10 = BAD_FITNESS - RMS residual exceeds tolerance Previously these fell through silently, leaving the cal dialog stuck. Changes: - Use calStatus > MAG_CAL_SUCCESS guard (future-proof for any further codes) - Track failure status per compass in lastFailureStatus dictionary - Show failure code in result label; set progress/picture to red on failure - Add unit tests covering the guard logic and wire values Note: Mavlink.cs is NOT changed - it is auto-generated. Named enum members MAG_CAL_BAD_OFFSETS/DIAG/FITNESS arrive when mavlink/mavlink#2478 merges and Mavlink.cs is regenerated. Tests use raw byte casts until then.
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Summary
Companion GCS change for ArduPilot/ardupilot#32757, which extends \CompassCalibrator::Status\ with three specific failure reasons reported via \MAG_CAL_REPORT.cal_status\ when the calibration fit is rejected:
Previously these values fell through silently, leaving the calibration dialog stuck in a running state with no feedback to the user.
Changes
Both dialogs now:
Notes on \Mavlink.cs\
\ExtLibs/Mavlink/Mavlink.cs\ is not changed — it is auto-generated from upstream mavlink XML. The named enum members will appear automatically when mavlink/mavlink#2478 merges and the file is regenerated.
Until then, raw values \8/\9/\10\ are received from firmware and handled correctly by the > MAG_CAL_SUCCESS\ guard. The result label shows e.g. \Mag 0: 8\ until the regen, after which it will show \Mag 0: MAG_CAL_BAD_FITNESS.
Tests
Tests in \MissionPlannerTests/GCSViews/MagCalStatusTests.cs\ cover:
A follow-up to switch from raw casts to named members is tracked in mavlink/mavlink#2478.
Depends on