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Update Mag quick Cal to accept heading arguments #24637

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Update Mag quick Cal to accept heading arguments #24637

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17b35b8
Update Mag quick Cal to accept heading arguments
ryanjAA Mar 29, 2025
2cec946
Fixed formatting
ryanjAA Mar 31, 2025
f9092a8
Merge branch 'main' into mag_quick
ryanjAA Apr 1, 2025
2f13ebc
Merge branch 'main' into mag_quick
dakejahl Jul 23, 2025
48953d7
Merge branch 'main' into mag_quick
ryanjAA Oct 13, 2025
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26 changes: 24 additions & 2 deletions src/modules/commander/Commander.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -247,8 +247,30 @@ int Commander::custom_command(int argc, char *argv[])

} else if (!strcmp(argv[1], "mag")) {
if (argc > 2 && (strcmp(argv[2], "quick") == 0)) {
// magnetometer quick calibration: VEHICLE_CMD_FIXED_MAG_CAL_YAW
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_FIXED_MAG_CAL_YAW);
// Magnetometer quick calibration with optional heading
float heading_deg = 0.0f;

if (argc > 3) {
char *end;
heading_deg = strtof(argv[3], &end);

if (*end != '\0') { // Check if parsing failed
PX4_ERR("Invalid heading value: %s", argv[3]);
return 1;
}

heading_deg = roundf(heading_deg);
}

// Send command with heading (param1), other params zeroed (use GPS)
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_FIXED_MAG_CAL_YAW,
heading_deg, // param1: heading in degrees
0.0f, // param2: unused
0.0f, // param3: latitude (0 triggers GPS)
0.0f, // param4: longitude (0 triggers GPS)
0.0, // param5: unused
0.0, // param6: unused
0.0f); // param7: unused

} else {
// magnetometer calibration: param2 = 1
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