From fd09153877a80f5ec8f50d69f35b45e913c13190 Mon Sep 17 00:00:00 2001
From: nathan <nathan@vertile.com>
Date: Fri, 27 Apr 2018 23:05:08 -0700
Subject: [PATCH] allow completion of the sensor page with a magnetometer if
 ATT_W_MAG is 0

---
 src/AutoPilotPlugins/PX4/SensorsComponent.cc | 11 +++++++++--
 src/AutoPilotPlugins/PX4/SensorsComponent.h  |  3 +++
 src/AutoPilotPlugins/PX4/SensorsSetup.qml    |  3 ++-
 3 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/src/AutoPilotPlugins/PX4/SensorsComponent.cc b/src/AutoPilotPlugins/PX4/SensorsComponent.cc
index 7fbc76bd0..d90a71ebc 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponent.cc
+++ b/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::_magDisabledParam =  "ATT_W_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 +57,10 @@ 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) {
+        return false;
+    }
 
     if (_vehicle->fixedWing() || _vehicle->vtol()) {
         if (!_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedDisabledParam)->rawValue().toBool() &&
@@ -70,7 +77,7 @@ QStringList SensorsComponent::setupCompleteChangedTriggerList(void) const
 {
     QStringList triggers;
     
-    triggers << _deviceIds;
+    triggers << _deviceIds << _magCalParam << _magDisabledParam;
     if (_vehicle->fixedWing() || _vehicle->vtol()) {
         triggers << _airspeedCalParam << _airspeedBreakerParam;
     }
diff --git a/src/AutoPilotPlugins/PX4/SensorsComponent.h b/src/AutoPilotPlugins/PX4/SensorsComponent.h
index 9201c5e8e..774b56c0a 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponent.h
+++ b/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* _magDisabledParam;
+    static const char* _magCalParam;
 };
 
 #endif
diff --git a/src/AutoPilotPlugins/PX4/SensorsSetup.qml b/src/AutoPilotPlugins/PX4/SensorsSetup.qml
index 673c36a0a..50b3da23f 100644
--- a/src/AutoPilotPlugins/PX4/SensorsSetup.qml
+++ b/src/AutoPilotPlugins/PX4/SensorsSetup.qml
@@ -369,7 +369,8 @@ Item {
                 width:          _buttonWidth
                 text:           qsTr("Compass")
                 indicatorGreen: cal_mag0_id.value !== 0
-                visible:        QGroundControl.corePlugin.options.showSensorCalibrationCompass && showSensorCalibrationCompass
+                visible:        controller.getParameterFact(-1, "ATT_W_MAG").value !== 0 &&
+                                QGroundControl.corePlugin.options.showSensorCalibrationCompass && showSensorCalibrationCompass
 
                 onClicked: {
                     preCalibrationDialogType = "compass"
-- 
2.22.0