Merge pull request #6510 from mavlink/sensors_optional_mag

Sensor Cal: Handle case where no mag present [continued]

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -20,11 +20,14 @@ const char* SensorsComponent::_airspeedBreakerParam =   "CBRK_AIRSPD_CHK";
 const char* SensorsComponent::_airspeedDisabledParam =  "FW_ARSP_MODE";
 const char* SensorsComponent::_airspeedCalParam =       "SENS_DPRES_OFF";
 
+const char* SensorsComponent::_magEnabledParam =  "SYS_HAS_MAG";
+const char* SensorsComponent::_magCalParam =  "CAL_MAG0_ID";
+
 SensorsComponent::SensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
     VehicleComponent(vehicle, autopilot, parent),
     _name(tr("Sensors"))
 {
-    _deviceIds << QStringLiteral("CAL_MAG0_ID") << QStringLiteral("CAL_GYRO0_ID") << QStringLiteral("CAL_ACC0_ID");
+    _deviceIds << QStringLiteral("CAL_GYRO0_ID") << QStringLiteral("CAL_ACC0_ID");
 }
 
 QString SensorsComponent::name(void) const
@@ -54,6 +57,14 @@ bool SensorsComponent::setupComplete(void) const
             return false;
         }
     }
+    bool magEnabled = true;
+    if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, _magEnabledParam)) {
+        magEnabled = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _magEnabledParam)->rawValue().toBool();
+    }
+
+    if (magEnabled && _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _magCalParam)->rawValue().toFloat() == 0.0f) {
+        return false;
+    }
 
     if (_vehicle->fixedWing() || _vehicle->vtol()) {
         if (!_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedDisabledParam)->rawValue().toBool() &&
@@ -70,7 +81,7 @@ QStringList SensorsComponent::setupCompleteChangedTriggerList(void) const
 {
     QStringList triggers;
     
-    triggers << _deviceIds;
+    triggers << _deviceIds << _magCalParam << _magEnabledParam;
     if (_vehicle->fixedWing() || _vehicle->vtol()) {
         triggers << _airspeedCalParam << _airspeedBreakerParam;
     }

src/AutoPilotPlugins/PX4/SensorsComponent.h

@@ -44,6 +44,9 @@ private:
     static const char* _airspeedDisabledParam;
     static const char* _airspeedBreakerParam;
     static const char* _airspeedCalParam;
+
+    static const char* _magEnabledParam;
+    static const char* _magCalParam;
 };
 
 #endif

src/AutoPilotPlugins/PX4/SensorsSetup.qml

@@ -365,11 +365,12 @@ Item {
             spacing:    ScreenTools.defaultFontPixelHeight / 2
 
             IndicatorButton {
+                property bool 	_hasMag: controller.parameterExists(-1, "SYS_HAS_MAG") ? controller.getParameterFact(-1, "SYS_HAS_MAG").value !== 0 : true
                 id:             compassButton
                 width:          _buttonWidth
                 text:           qsTr("Compass")
                 indicatorGreen: cal_mag0_id.value !== 0
-                visible:        QGroundControl.corePlugin.options.showSensorCalibrationCompass && showSensorCalibrationCompass
+                visible:        _hasMag && QGroundControl.corePlugin.options.showSensorCalibrationCompass && showSensorCalibrationCompass
 
                 onClicked: {
                     preCalibrationDialogType = "compass"