From 2487abfb9d9ca537b0ec0b35425538153404b84a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Sat, 26 May 2018 13:25:03 +0200
Subject: [PATCH] px4 sensor setup: replace ATT_W_MAG with SYS_HAS_MAG and
 check if param exists

---
 src/AutoPilotPlugins/PX4/SensorsComponent.cc | 12 ++++++++----
 src/AutoPilotPlugins/PX4/SensorsComponent.h  |  2 +-
 src/AutoPilotPlugins/PX4/SensorsSetup.qml    |  4 ++--
 3 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/src/AutoPilotPlugins/PX4/SensorsComponent.cc b/src/AutoPilotPlugins/PX4/SensorsComponent.cc
index d90a71ebc..0a2d96752 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponent.cc
+++ b/src/AutoPilotPlugins/PX4/SensorsComponent.cc
@@ -20,7 +20,7 @@ const char* SensorsComponent::_airspeedBreakerParam =   "CBRK_AIRSPD_CHK";
 const char* SensorsComponent::_airspeedDisabledParam =  "FW_ARSP_MODE";
 const char* SensorsComponent::_airspeedCalParam =       "SENS_DPRES_OFF";
 
-const char* SensorsComponent::_magDisabledParam =  "ATT_W_MAG";
+const char* SensorsComponent::_magEnabledParam =  "SYS_HAS_MAG";
 const char* SensorsComponent::_magCalParam =  "CAL_MAG0_ID";
 
 SensorsComponent::SensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
@@ -57,8 +57,12 @@ bool SensorsComponent::setupComplete(void) const
             return false;
         }
     }
-    if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _magDisabledParam)->rawValue().toInt() != 0 &&
-            _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _magCalParam)->rawValue().toFloat() == 0.0f) {
+    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;
     }
 
@@ -77,7 +81,7 @@ QStringList SensorsComponent::setupCompleteChangedTriggerList(void) const
 {
     QStringList triggers;
     
-    triggers << _deviceIds << _magCalParam << _magDisabledParam;
+    triggers << _deviceIds << _magCalParam << _magEnabledParam;
     if (_vehicle->fixedWing() || _vehicle->vtol()) {
         triggers << _airspeedCalParam << _airspeedBreakerParam;
     }
diff --git a/src/AutoPilotPlugins/PX4/SensorsComponent.h b/src/AutoPilotPlugins/PX4/SensorsComponent.h
index 774b56c0a..13baae45d 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponent.h
+++ b/src/AutoPilotPlugins/PX4/SensorsComponent.h
@@ -45,7 +45,7 @@ private:
     static const char* _airspeedBreakerParam;
     static const char* _airspeedCalParam;
 
-    static const char* _magDisabledParam;
+    static const char* _magEnabledParam;
     static const char* _magCalParam;
 };
 
diff --git a/src/AutoPilotPlugins/PX4/SensorsSetup.qml b/src/AutoPilotPlugins/PX4/SensorsSetup.qml
index 50b3da23f..028973fbf 100644
--- a/src/AutoPilotPlugins/PX4/SensorsSetup.qml
+++ b/src/AutoPilotPlugins/PX4/SensorsSetup.qml
@@ -365,12 +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:        controller.getParameterFact(-1, "ATT_W_MAG").value !== 0 &&
-                                QGroundControl.corePlugin.options.showSensorCalibrationCompass && showSensorCalibrationCompass
+                visible:        _hasMag && QGroundControl.corePlugin.options.showSensorCalibrationCompass && showSensorCalibrationCompass
 
                 onClicked: {
                     preCalibrationDialogType = "compass"
-- 
2.22.0