Include compass in OSD sensors calibration message

AUTHORS

@@ -35,6 +35,7 @@ Gaël James
 Gregor Ottmann
 Google LLC
 Hyon Lim
+Hubert Jozwiak
 James Harrison
 Jan Staal
 Jeremy Waters

src/main/fc/fc_core.c

@@ -45,6 +45,7 @@ FILE_COMPILE_FOR_SPEED
 #include "sensors/boardalignment.h"
 #include "sensors/acceleration.h"
 #include "sensors/barometer.h"
+#include "sensors/compass.h"
 #include "sensors/pitotmeter.h"
 #include "sensors/gyro.h"
 #include "sensors/battery.h"
@@ -135,7 +136,7 @@ static emergencyArmingState_t emergencyArming;
 static bool prearmWasReset = false; // Prearm must be reset (RC Mode not active) before arming is possible
 static timeMs_t prearmActivationTime = 0;
 
-bool isCalibrating(void)
+bool areSensorsCalibrating(void)
 {
 #ifdef USE_BARO
     if (sensors(SENSOR_BARO) && !baroIsCalibrationComplete()) {
@@ -143,6 +144,12 @@ bool isCalibrating(void)
     }
 #endif
 
+#ifdef USE_MAG
+    if (sensors(SENSOR_MAG) && !compassIsCalibrationComplete()) {
+        return true;
+    }
+#endif
+
 #ifdef USE_PITOT
     if (sensors(SENSOR_PITOT) && !pitotIsCalibrationComplete()) {
         return true;
@@ -183,7 +190,7 @@ static void updateArmingStatus(void)
     } else {
         /* CHECK: Run-time calibration */
         static bool calibratingFinishedBeep = false;
-        if (isCalibrating()) {
+        if (areSensorsCalibrating()) {
             ENABLE_ARMING_FLAG(ARMING_DISABLED_SENSORS_CALIBRATING);
             calibratingFinishedBeep = false;
         }
@@ -711,7 +718,7 @@ void processRx(timeUs_t currentTimeUs)
     // Handle passthrough mode
     if (STATE(FIXED_WING_LEGACY)) {
         if ((IS_RC_MODE_ACTIVE(BOXMANUAL) && !navigationRequiresAngleMode() && !failsafeRequiresAngleMode()) ||    // Normal activation of passthrough
-            (!ARMING_FLAG(ARMED) && isCalibrating())){                                                              // Backup - if we are not armed - enforce passthrough while calibrating
+            (!ARMING_FLAG(ARMED) && areSensorsCalibrating())){                                                              // Backup - if we are not armed - enforce passthrough while calibrating
             ENABLE_FLIGHT_MODE(MANUAL_MODE);
         } else {
             DISABLE_FLIGHT_MODE(MANUAL_MODE);

src/main/fc/fc_core.h

@@ -43,7 +43,7 @@ disarmReason_t getDisarmReason(void);
 
 void emergencyArmingUpdate(bool armingSwitchIsOn);
 
-bool isCalibrating(void);
+bool areSensorsCalibrating(void);
 float getFlightTime(void);
 float getArmTime(void);
 

src/main/sensors/compass.c

@@ -329,6 +329,16 @@ bool compassIsReady(void)
     return magUpdatedAtLeastOnce;
 }
 
+bool compassIsCalibrationComplete(void)
+{
+    if (STATE(COMPASS_CALIBRATED)) {
+        return true;
+    }
+    else {
+        return false;
+    }
+}
+
 void compassUpdate(timeUs_t currentTimeUs)
 {
     static sensorCalibrationState_t calState;

src/main/sensors/compass.h

@@ -78,5 +78,6 @@ bool compassInit(void);
 void compassUpdate(timeUs_t currentTimeUs);
 bool compassIsReady(void);
 bool compassIsHealthy(void);
+bool compassIsCalibrationComplete(void);
 
 #endif

src/main/telemetry/mavlink.c

@@ -733,7 +733,7 @@ void mavlinkSendHUDAndHeartbeat(void)
             mavSystemState = MAV_STATE_ACTIVE;
         }
     }
-    else if (isCalibrating()) {
+    else if (areSensorsCalibrating()) {
         mavSystemState = MAV_STATE_CALIBRATING;
     }
     else {