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ConfigHWCompass: surface MAG_CAL_FAILED_OFFSETS / FAILED_DIAG_SCALING / FAILED_RESIDUALS_HIGH failure codes #3722

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ConfigHWCompass: surface MAG_CAL_FAILED_OFFSETS / FAILED_DIAG_SCALING / FAILED_RESIDUALS_HIGH failure codes #3722

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f2a9bcf
Mavlink: update MAG_CAL_STATUS enums from mavlink/mavlink#2478
christianpetri Jul 14, 2026
24bcab4
ConfigHWCompass: surface BAD_OFFSETS/DIAG/FITNESS failure codes in ca…
christianpetri May 11, 2026
0334197
fixup: use Environment.NewLine and .ToString() instead of GMap internals
christianpetri May 11, 2026
f1b72e1
fixup: rename BAD_DIAG to BAD_DIAG_SCALING per mavlink/mavlink#2478
christianpetri May 14, 2026
4f8fe1c
review: document assumptions and known gaps identified in code review
christianpetri May 14, 2026
884fbcc
Refactor compass calibration UI and logic
christianpetri Jul 7, 2026
3c62b9b
Remove Accept button and improve compass cal workflow
christianpetri Jul 7, 2026
38edd43
compass: UI polish - reboot button tooltip, remove debug demo, fix re…
christianpetri Jul 11, 2026
05ebef6
Improve MAG_CAL_STATUS text fallback handling
christianpetri Jul 11, 2026
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21 changes: 15 additions & 6 deletions ExtLibs/Mavlink/Mavlink.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -6012,12 +6012,21 @@ public enum MAG_CAL_STATUS: byte
///<summary> | </summary>
[Description("")]
MAG_CAL_FAILED=5,
///<summary> | </summary>
[Description("")]
MAG_CAL_BAD_ORIENTATION=6,
///<summary> | </summary>
[Description("")]
MAG_CAL_BAD_RADIUS=7,
///<summary> Compass calibration failed: the vehicle orientation is outside the required tolerance. | </summary>
[Description("Compass calibration failed: the vehicle orientation is outside the required tolerance.")]
MAG_CAL_FAILED_ORIENTATION=6,
///<summary> Compass calibration failed: the radius of the fitted sphere is unrealistically small or large. | </summary>
[Description("Compass calibration failed: the radius of the fitted sphere is unrealistically small or large.")]
MAG_CAL_FAILED_RADIUS=7,
///<summary> Compass calibration failed: offset magnitude too large. | </summary>
[Description("Compass calibration failed: offset magnitude too large.")]
MAG_CAL_FAILED_OFFSETS=8,
///<summary> Compass calibration failed: diagonal or off-diagonal scaling values out of valid range. | </summary>
[Description("Compass calibration failed: diagonal or off-diagonal scaling values out of valid range.")]
MAG_CAL_FAILED_DIAG_SCALING=9,
///<summary> Compass calibration failed: fitness (RMS residual) exceeds tolerance. | </summary>
[Description("Compass calibration failed: fitness (RMS residual) exceeds tolerance.")]
MAG_CAL_FAILED_RESIDUALS_HIGH=10,

};

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17 changes: 15 additions & 2 deletions ExtLibs/Mavlink/message_definitions/common.xml
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Expand Up @@ -4142,8 +4142,21 @@
<entry value="3" name="MAG_CAL_RUNNING_STEP_TWO"/>
<entry value="4" name="MAG_CAL_SUCCESS"/>
<entry value="5" name="MAG_CAL_FAILED"/>
<entry value="6" name="MAG_CAL_BAD_ORIENTATION"/>
<entry value="7" name="MAG_CAL_BAD_RADIUS"/>
<entry value="6" name="MAG_CAL_FAILED_ORIENTATION">
<description>Compass calibration failed: the vehicle orientation is outside the required tolerance.</description>
</entry>
<entry value="7" name="MAG_CAL_FAILED_RADIUS">
<description>Compass calibration failed: the radius of the fitted sphere is unrealistically small or large.</description>
</entry>
<entry value="8" name="MAG_CAL_FAILED_OFFSETS">
<description>Compass calibration failed: offset magnitude too large.</description>
</entry>
<entry value="9" name="MAG_CAL_FAILED_DIAG_SCALING">
<description>Compass calibration failed: diagonal or off-diagonal scaling values out of valid range.</description>
</entry>
<entry value="10" name="MAG_CAL_FAILED_RESIDUALS_HIGH">
<description>Compass calibration failed: fitness (RMS residual) exceeds tolerance.</description>
</entry>
</enum>
<enum name="CAN_FILTER_OP">
<entry value="0" name="CAN_FILTER_REPLACE"/>
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202 changes: 178 additions & 24 deletions GCSViews/ConfigurationView/ConfigHWCompass.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
using System.ComponentModel;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Windows.Forms;

namespace MissionPlanner.GCSViews.ConfigurationView
Expand Down Expand Up @@ -419,6 +420,48 @@ 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> _succeededCompasses = new HashSet<byte>();
private HashSet<byte> _autosavedCompasses = new HashSet<byte>();
private byte _activeCalMask;

// Firmware uses 0-based compass_id on the wire; users see "Mag 1/2/3" in the UI.
// Log strings show both so operators can correlate the visible row with logs and
// firmware messages. Keep this the sole formatter to avoid drift.
private static string CompassLabel(byte compassId) => "Mag " + (compassId + 1) + " (id: " + compassId + ")";

// Prefer the MAVLink [Description] if the dialect XML carries one for this code;
// otherwise fall back to the raw enum name. This keeps failure messages in sync
// with upstream firmware wording across mavlink bumps at zero maintenance cost.
// Note: mavgen emits its own MAVLink.Description attribute (see MavlinkParse.cs),
// NOT System.ComponentModel.DescriptionAttribute.
private static string StatusText(MAVLink.MAG_CAL_STATUS status)
{
var field = typeof(MAVLink.MAG_CAL_STATUS).GetField(status.ToString());
var attr = field == null ? null
: (MAVLink.Description)Attribute.GetCustomAttribute(field, typeof(MAVLink.Description));
return string.IsNullOrEmpty(attr?.Text)
? status.ToString()
: status + " \u2014 " + attr.Text;
}

private static int CountBits(byte mask)
{
int count = 0;
while (mask != 0)
{
count += mask & 1;
mask >>= 1;
}

return count;
}

private int ExpectedCompassCount()
{
return _activeCalMask == 0 ? _startedCompasses.Count : CountBits(_activeCalMask);
}

private bool ReceviedPacket(MAVLink.MAVLinkMessage packet)
{
Expand Down Expand Up @@ -465,13 +508,29 @@ private void BUT_OBmagcalstart_Click(object sender, EventArgs e)

mprog.Clear();
mrep.Clear();
lastFailureStatus.Clear();
_startedCompasses.Clear();
_succeededCompasses.Clear();
_autosavedCompasses.Clear();
_activeCalMask = 0;
horizontalProgressBar1.Value = 0;
horizontalProgressBar2.Value = 0;
horizontalProgressBar3.Value = 0;
// Reset the poll cadence — the tick handler bumps this to 1000 ms once
// autosave lands; without this reset the second cal per page visit polls
// once per second and the bars update visibly laggy.
timer1.Interval = 100;

// Unsubscribe any prior subscriptions from an earlier Start click so we don't
// stack duplicates when the user restarts calibration without leaving the screen.
// Fields default to 0; UnSubscribeToPacketType(0) safely no-ops.
MainV2.comPort.UnSubscribeToPacketType(packetsub1);
MainV2.comPort.UnSubscribeToPacketType(packetsub2);

packetsub1 = MainV2.comPort.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.MAG_CAL_PROGRESS, ReceviedPacket, (byte)MainV2.comPort.sysidcurrent, (byte)MainV2.comPort.compidcurrent);
packetsub2 = MainV2.comPort.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.MAG_CAL_REPORT, ReceviedPacket, (byte)MainV2.comPort.sysidcurrent, (byte)MainV2.comPort.compidcurrent);

BUT_OBmagcalstart.Enabled = false;
BUT_OBmagcalaccept.Enabled = true;
BUT_OBmagcalcancel.Enabled = true;
timer1.Start();
Expand All @@ -493,6 +552,7 @@ private void BUT_OBmagcalaccept_Click(object sender, EventArgs e)
MainV2.comPort.UnSubscribeToPacketType(packetsub2);

timer1.Stop();
BUT_OBmagcalstart.Enabled = true;
}

private void BUT_OBmagcalcancel_Click(object sender, EventArgs e)
Expand All @@ -510,17 +570,18 @@ private void BUT_OBmagcalcancel_Click(object sender, EventArgs e)
MainV2.comPort.UnSubscribeToPacketType(packetsub2);

timer1.Stop();
BUT_OBmagcalstart.Enabled = true;
}

private void timer1_Tick(object sender, EventArgs e)
{
lbl_obmagresult.Clear();
int compasscount = 0;
int completecount = 0;
lock (mprog)
{
// somewhere to save our %
Dictionary<byte, MAVLink.MAVLinkMessage> status = new Dictionary<byte, MAVLink.MAVLinkMessage>();
// Sorted by compass_id so the progress line always reads Mag 1, Mag 2, Mag 3
// regardless of the order firmware's three calibrators first transmit.
SortedDictionary<byte, MAVLink.MAVLinkMessage> status = new SortedDictionary<byte, MAVLink.MAVLinkMessage>();
foreach (var item in mprog)
{
status[((MAVLink.mavlink_mag_cal_progress_t)item.data).compass_id] = item;
Expand All @@ -531,22 +592,33 @@ private void timer1_Tick(object sender, EventArgs e)
foreach (var item in status)
{
var obj = (MAVLink.mavlink_mag_cal_progress_t)item.Value.data;
_activeCalMask |= obj.cal_mask;

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;
// Don't let a stale progress packet overwrite the 100/green we set
// when the SUCCESS report arrived.
if (!_succeededCompasses.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() + "% ";
// Firmware caps completion_pct at ~99 and signals 100 implicitly via the
// MAG_CAL_REPORT with MAG_CAL_SUCCESS. Match the bar (forced to 100 in the
// report handler) so text and visual agree — for SUCCESS, not just autosaved.
var pct = _succeededCompasses.Contains(item.Key) ? 100 : obj.completion_pct;
message += CompassLabel(item.Key) + " " + pct.ToString() + "% ";
_startedCompasses.Add(item.Key);
compasscount++;
}
lbl_obmagresult.AppendText(message + "\n");
lbl_obmagresult.AppendText(message + Environment.NewLine);
}

lock (mrep)
Expand All @@ -557,52 +629,134 @@ 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.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 consumedCompassIds = new List<byte>();
foreach (var item in status.Values)
{
var obj = (MAVLink.mavlink_mag_cal_report_t)item.data;
_activeCalMask |= obj.cal_mask;

// Any report from a compass proves it was actually calibrated (even if
// it failed on the very first sample check with zero progress packets).
// The progress loop also adds to this set, but reports can arrive
// without any preceding progress under the new PR #32757 early-abort
// firmware — without this line the completion check below would fire
// prematurely, declaring cal "done" while a compass was still retrying.
_startedCompasses.Add(obj.compass_id);

lbl_obmagresult.AppendText("id:" + obj.compass_id + " x:" + obj.ofs_x.ToString("0.0") + " y:" +
lbl_obmagresult.AppendText(CompassLabel(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");
StatusText((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;
// Green + 100 on numeric SUCCESS (autosaved is a stricter
// downstream state used only to drive the reboot popup below).
if ((MAVLink.MAG_CAL_STATUS)obj.cal_status == MAVLink.MAG_CAL_STATUS.MAG_CAL_SUCCESS)
{
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;
// The "please reboot" completion check below is gated on autosaved==1
// (the point at which firmware persisted the offsets), so it fires only
// when rebooting actually matters.
if (calStatus > MAVLink.MAG_CAL_STATUS.MAG_CAL_SUCCESS)
{
//CustomMessageBox.Show(Strings.CommandFailed);
lastFailureStatus[obj.compass_id] = calStatus;
consumedCompassIds.Add(obj.compass_id);
_autosavedCompasses.Remove(obj.compass_id);
// if a prior SUCCESS was later reversed by firmware, drop the flag so
// the retry's progress packets can drive the bar again
_succeededCompasses.Remove(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);
_succeededCompasses.Add(obj.compass_id);
consumedCompassIds.Add(obj.compass_id);
}
// running/waiting states leave lastFailureStatus unchanged so the
// previous failure reason stays visible while calibration retries

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

// consume terminal reports so we don't re-render the same "x:… y:… z:… fit:… SUCCESS"
// line every timer tick and so a failure report can't fight retry progress. Any
// later report from firmware (e.g. a second MAG_CAL_REPORT with autosaved==1)
// will re-enter mrep via ReceviedPacket and be handled afresh next tick.
// lastFailureStatus preserves the failure message for the sticky footer.
if (consumedCompassIds.Count > 0)
mrep.RemoveAll(m => consumedCompassIds.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 += CompassLabel(kv.Key) + ": " + StatusText(kv.Value) + Environment.NewLine;
lbl_obmagresult.AppendText(failures);
}

// Mixed-result partial save: PR #32757 firmware autosaves successful compasses
// individually as soon as they hit SUCCESS, even when other compasses are still
// failing/retrying. The all-successful "Please reboot" popup below does NOT fire
// in this case, so without this explicit banner the user only learns about the
// partial persist via a cryptic PreArm "Compass calibrated requires reboot" on
// the next arm attempt.
bool partialSave = _autosavedCompasses.Count > 0 && lastFailureStatus.Count > 0;
if (partialSave)
{
var savedList = string.Join(", ",
_autosavedCompasses.OrderBy(id => id).Select(id => CompassLabel(id)));
lbl_obmagresult.AppendText(
"Partial save: " + savedList +
" persisted to params. Reboot required before those changes apply." +
" Failed compasses continue to retry." + Environment.NewLine);
}

if (compasscount == completecount && compasscount != 0)
int expectedCompassCount = ExpectedCompassCount();
if (expectedCompassCount > 0 && lastFailureStatus.Count == 0 && _autosavedCompasses.Count >= expectedCompassCount)
{
BUT_OBmagcalcancel.Enabled = false;
BUT_OBmagcalaccept.Enabled = false;
BUT_OBmagcalstart.Enabled = true;
timer1.Stop();
CustomMessageBox.Show("Please reboot the autopilot");
}
Expand Down
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