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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 #3722

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7bfb3f7
ConfigHWCompass: surface BAD_OFFSETS/DIAG/FITNESS failure codes in ca…
christianpetri May 11, 2026
906a621
fixup: use Environment.NewLine and .ToString() instead of GMap internals
christianpetri May 11, 2026
b63a1e8
fixup: rename BAD_DIAG to BAD_DIAG_SCALING per mavlink/mavlink#2478
christianpetri May 14, 2026
947a04a
review: document assumptions and known gaps identified in code review
christianpetri May 14, 2026
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89 changes: 71 additions & 18 deletions GCSViews/ConfigurationView/ConfigHWCompass.cs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -419,6 +419,9 @@ private void linkLabel1_LinkClicked_1(object sender, LinkLabelLinkClickedEventAr

private List<MAVLink.MAVLinkMessage> mprog = new List<MAVLink.MAVLinkMessage>();
private List<MAVLink.MAVLinkMessage> mrep = new List<MAVLink.MAVLinkMessage>();
private Dictionary<byte, MAVLink.MAG_CAL_STATUS> lastFailureStatus = new Dictionary<byte, MAVLink.MAG_CAL_STATUS>();
private HashSet<byte> _startedCompasses = new HashSet<byte>();
private HashSet<byte> _autosavedCompasses = new HashSet<byte>();

private bool ReceviedPacket(MAVLink.MAVLinkMessage packet)
{
Expand Down Expand Up @@ -465,6 +468,9 @@ private void BUT_OBmagcalstart_Click(object sender, EventArgs e)

mprog.Clear();
mrep.Clear();
lastFailureStatus.Clear();
_startedCompasses.Clear();
_autosavedCompasses.Clear();
horizontalProgressBar1.Value = 0;
horizontalProgressBar2.Value = 0;
horizontalProgressBar3.Value = 0;
Expand Down Expand Up @@ -534,19 +540,23 @@ private void timer1_Tick(object sender, EventArgs e)

try
{
if (item.Key == 0)
horizontalProgressBar1.Value = obj.completion_pct;
if (item.Key == 1)
horizontalProgressBar2.Value = obj.completion_pct;
if (item.Key == 2)
horizontalProgressBar3.Value = obj.completion_pct;
if (!_autosavedCompasses.Contains(item.Key))
{
if (item.Key == 0)
horizontalProgressBar1.Value = obj.completion_pct;
if (item.Key == 1)
horizontalProgressBar2.Value = obj.completion_pct;
if (item.Key == 2)
horizontalProgressBar3.Value = obj.completion_pct;
}
}
catch { }

message += "id:" + item.Key + " " + obj.completion_pct.ToString() + "% ";
_startedCompasses.Add(item.Key);
compasscount++;
}
lbl_obmagresult.AppendText(message + "\n");
lbl_obmagresult.AppendText(message + Environment.NewLine);
}

lock (mrep)
Expand All @@ -557,49 +567,92 @@ private void timer1_Tick(object sender, EventArgs e)
{
var obj = (MAVLink.mavlink_mag_cal_report_t)item.data;

if (obj.compass_id == 0 && obj.ofs_x == 0)
if (obj.compass_id == 0 && obj.ofs_x == 0 && obj.ofs_y == 0 && obj.ofs_z == 0
&& obj.cal_status == (byte)MAVLink.MAG_CAL_STATUS.MAG_CAL_NOT_STARTED)
continue;

status[obj.compass_id] = item;
}

// message for user
var failedCompassIds = new List<byte>();
foreach (var item in status.Values)
{
var obj = (MAVLink.mavlink_mag_cal_report_t)item.data;

lbl_obmagresult.AppendText("id:" + obj.compass_id + " x:" + obj.ofs_x.ToString("0.0") + " y:" +
obj.ofs_y.ToString("0.0") + " z:" +
obj.ofs_z.ToString("0.0") + " fit:" + obj.fitness.ToString("0.0") + " " +
(MAVLink.MAG_CAL_STATUS)obj.cal_status + "\n");
(MAVLink.MAG_CAL_STATUS)obj.cal_status + Environment.NewLine);

try
{
if (obj.compass_id == 0)
horizontalProgressBar1.Value = 100;
if (obj.compass_id == 1)
horizontalProgressBar2.Value = 100;
if (obj.compass_id == 2)
horizontalProgressBar3.Value = 100;
if (obj.autosaved == 1)
{
if (obj.compass_id == 0)
horizontalProgressBar1.Value = 100;
if (obj.compass_id == 1)
horizontalProgressBar2.Value = 100;
if (obj.compass_id == 2)
horizontalProgressBar3.Value = 100;
}
}
catch
{
}

if ((MAVLink.MAG_CAL_STATUS)obj.cal_status != MAVLink.MAG_CAL_STATUS.MAG_CAL_SUCCESS)
var calStatus = (MAVLink.MAG_CAL_STATUS)obj.cal_status;
// Assumption: autosaved==1 is only ever set by firmware on SUCCESS.
// The calStatus>SUCCESS branch below always runs after the autosaved
// block, so if that assumption ever breaks the bar would be reset to
// 0/red while completecount still increments — guard here if needed.
if (calStatus > MAVLink.MAG_CAL_STATUS.MAG_CAL_SUCCESS)
{
//CustomMessageBox.Show(Strings.CommandFailed);
lastFailureStatus[obj.compass_id] = calStatus;
failedCompassIds.Add(obj.compass_id);
// purge stale progress so the old 99% can't overwrite the reset
lock (mprog)
{
mprog.RemoveAll(m => ((MAVLink.mavlink_mag_cal_progress_t)m.data).compass_id == obj.compass_id);
}
// reset bar so the user sees the retry starting from 0
try
{
if (obj.compass_id == 0) horizontalProgressBar1.Value = 0;
if (obj.compass_id == 1) horizontalProgressBar2.Value = 0;
if (obj.compass_id == 2) horizontalProgressBar3.Value = 0;
}
catch { }
}
else if (calStatus == MAVLink.MAG_CAL_STATUS.MAG_CAL_SUCCESS)
lastFailureStatus.Remove(obj.compass_id);
// running/waiting states leave lastFailureStatus unchanged so the
// previous failure reason stays visible while calibration retries

if (obj.autosaved == 1)
{
_autosavedCompasses.Add(obj.compass_id);
completecount++;
timer1.Interval = 1000;
}
}

// consume failure reports so they don't re-fire next tick and kill retry progress
// (lastFailureStatus preserves the message for display)
if (failedCompassIds.Count > 0)
mrep.RemoveAll(m => failedCompassIds.Contains(((MAVLink.mavlink_mag_cal_report_t)m.data).compass_id));
}

// show last known failure reason per compass (persists across firmware auto-restarts)
if (lastFailureStatus.Count > 0)
{
string failures = "";
foreach (var kv in lastFailureStatus)
failures += "Mag " + kv.Key + ": " + kv.Value.ToString() + Environment.NewLine;
lbl_obmagresult.AppendText(failures);
}

if (compasscount == completecount && compasscount != 0)
if (_startedCompasses.Count > 0 && completecount == _startedCompasses.Count)
{
BUT_OBmagcalcancel.Enabled = false;
BUT_OBmagcalaccept.Enabled = false;
Expand Down
107 changes: 80 additions & 27 deletions GCSViews/ConfigurationView/ConfigHWCompass2.cs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,9 @@ public partial class ConfigHWCompass2 : MyUserControl, IActivate, IDeactivate

private List<MAVLink.MAVLinkMessage> mprog = new List<MAVLink.MAVLinkMessage>();
private List<MAVLink.MAVLinkMessage> mrep = new List<MAVLink.MAVLinkMessage>();
private Dictionary<byte, MAVLink.MAG_CAL_STATUS> lastFailureStatus = new Dictionary<byte, MAVLink.MAG_CAL_STATUS>();
private HashSet<byte> _startedCompasses = new HashSet<byte>();
private HashSet<byte> _autosavedCompasses = new HashSet<byte>();

private int packetsub1;
private int packetsub2;
Expand Down Expand Up @@ -281,6 +284,9 @@ private void BUT_OBmagcalstart_Click(object sender, EventArgs e)

mprog.Clear();
mrep.Clear();
lastFailureStatus.Clear();
_startedCompasses.Clear();
_autosavedCompasses.Clear();
horizontalProgressBar1.Value = 0;
horizontalProgressBar2.Value = 0;
horizontalProgressBar3.Value = 0;
Expand Down Expand Up @@ -378,19 +384,23 @@ private void timer1_Tick(object sender, EventArgs e)

try
{
if (item.Key == 0)
horizontalProgressBar1.Value = obj.completion_pct;
if (item.Key == 1)
horizontalProgressBar2.Value = obj.completion_pct;
if (item.Key == 2)
horizontalProgressBar3.Value = obj.completion_pct;
if (!_autosavedCompasses.Contains(item.Key))
{
if (item.Key == 0)
horizontalProgressBar1.Value = obj.completion_pct;
if (item.Key == 1)
horizontalProgressBar2.Value = obj.completion_pct;
if (item.Key == 2)
horizontalProgressBar3.Value = obj.completion_pct;
}
}
catch { }

message += "id:" + item.Key + " " + obj.completion_pct.ToString() + "% ";
_startedCompasses.Add(item.Key);
compasscount++;
}
lbl_obmagresult.AppendText(message + "\r\n");
lbl_obmagresult.AppendText(message + Environment.NewLine);
}

lock (mrep)
Expand All @@ -401,60 +411,103 @@ private void timer1_Tick(object sender, EventArgs e)
{
var obj = (MAVLink.mavlink_mag_cal_report_t)item.data;

if (obj.compass_id == 0 && obj.ofs_x == 0)
if (obj.compass_id == 0 && obj.ofs_x == 0 && obj.ofs_y == 0 && obj.ofs_z == 0
&& obj.cal_status == (byte)MAVLink.MAG_CAL_STATUS.MAG_CAL_NOT_STARTED)
continue;

status[obj.compass_id] = item;
}

// message for user
var failedCompassIds = new List<byte>();
foreach (var item in status.Values)
{
var obj = (MAVLink.mavlink_mag_cal_report_t)item.data;

lbl_obmagresult.AppendText("id:" + obj.compass_id + " x:" + obj.ofs_x.ToString("0.0") + " y:" +
obj.ofs_y.ToString("0.0") + " z:" +
obj.ofs_z.ToString("0.0") + " fit:" + obj.fitness.ToString("0.0") + " " +
(MAVLink.MAG_CAL_STATUS)obj.cal_status + "\n");
(MAVLink.MAG_CAL_STATUS)obj.cal_status + Environment.NewLine);

try
{
if (obj.compass_id == 0)
{
horizontalProgressBar1.Value = 100;
pictureBox1.BackColor = Color.Green;
}

if (obj.compass_id == 1)
{
horizontalProgressBar2.Value = 100;
pictureBox2.BackColor = Color.Green;
}

if (obj.compass_id == 2)
if (obj.autosaved == 1)
{
horizontalProgressBar3.Value = 100;
pictureBox3.BackColor = Color.Green;
if (obj.compass_id == 0)
{
horizontalProgressBar1.Value = 100;
pictureBox1.BackColor = Color.Green;
}

if (obj.compass_id == 1)
{
horizontalProgressBar2.Value = 100;
pictureBox2.BackColor = Color.Green;
}

if (obj.compass_id == 2)
{
horizontalProgressBar3.Value = 100;
pictureBox3.BackColor = Color.Green;
}
}
}
catch
{
}

if ((MAVLink.MAG_CAL_STATUS)obj.cal_status != MAVLink.MAG_CAL_STATUS.MAG_CAL_SUCCESS)
var calStatus = (MAVLink.MAG_CAL_STATUS)obj.cal_status;
// Assumption: autosaved==1 is only ever set by firmware on SUCCESS.
// The calStatus>SUCCESS branch below always runs after the autosaved
// block, so if that assumption ever breaks the bar would be reset to
// 0/red while completecount still increments — guard here if needed.
if (calStatus > MAVLink.MAG_CAL_STATUS.MAG_CAL_SUCCESS)
{
//CustomMessageBox.Show(Strings.CommandFailed);
lastFailureStatus[obj.compass_id] = calStatus;
failedCompassIds.Add(obj.compass_id);
// purge stale progress so the old 99% can't overwrite the reset
lock (mprog)
{
mprog.RemoveAll(m => ((MAVLink.mavlink_mag_cal_progress_t)m.data).compass_id == obj.compass_id);
}
// reset bar so the user sees the retry starting from 0
try
{
if (obj.compass_id == 0) { horizontalProgressBar1.Value = 0; pictureBox1.BackColor = Color.Red; }
if (obj.compass_id == 1) { horizontalProgressBar2.Value = 0; pictureBox2.BackColor = Color.Red; }
if (obj.compass_id == 2) { horizontalProgressBar3.Value = 0; pictureBox3.BackColor = Color.Red; }
}
catch { }
}
else if (calStatus == MAVLink.MAG_CAL_STATUS.MAG_CAL_SUCCESS)
lastFailureStatus.Remove(obj.compass_id);
// running/waiting states leave lastFailureStatus unchanged so the
// previous failure reason stays visible while calibration retries

if (obj.autosaved == 1)
{
_autosavedCompasses.Add(obj.compass_id);
completecount++;
timer1.Interval = 1000;
}
}

// consume failure reports so they don't re-fire next tick and kill retry progress
// (lastFailureStatus preserves the message for display)
if (failedCompassIds.Count > 0)
mrep.RemoveAll(m => failedCompassIds.Contains(((MAVLink.mavlink_mag_cal_report_t)m.data).compass_id));
}

// show last known failure reason per compass (persists across firmware auto-restarts)
if (lastFailureStatus.Count > 0)
{
string failures = "";
foreach (var kv in lastFailureStatus)
failures += "Mag " + kv.Key + ": " + kv.Value.ToString() + Environment.NewLine;
lbl_obmagresult.AppendText(failures);
}

if (compasscount == completecount && compasscount != 0)
if (_startedCompasses.Count > 0 && completecount == _startedCompasses.Count)
{
BUT_OBmagcalcancel.Enabled = false;
BUT_OBmagcalaccept.Enabled = false;
Expand Down
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