From 19649f292bf335949623358d089f343a1fce383b Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Fri, 25 Oct 2024 15:59:44 +0200
Subject: [PATCH] AP_Compass: Also mark Z axis as calibrations, just like the
 XY

---
 libraries/AP_Compass/AP_Compass.cpp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index f8a6d78cde..7738ac7f74 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -99,6 +99,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @Units: mGauss
     // @Increment: 1
     // @User: Advanced
+    // @Calibration: 1
     AP_GROUPINFO("OFS",    1, Compass, _state._priv_instance[0].offset, 0),
 
     // @Param: DEC
@@ -170,6 +171,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @Units: mGauss/A
     // @Increment: 1
     // @User: Advanced
+    // @Calibration: 1
     AP_GROUPINFO("MOT",    7, Compass, _state._priv_instance[0].motor_compensation, 0),
 #endif
 
@@ -215,6 +217,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @Units: mGauss
     // @Increment: 1
     // @User: Advanced
+    // @Calibration: 1
     AP_GROUPINFO("OFS2",    10, Compass, _state._priv_instance[1].offset, 0),
 
     // @Param: MOT2_X
@@ -242,6 +245,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @Units: mGauss/A
     // @Increment: 1
     // @User: Advanced
+    // @Calibration: 1
     AP_GROUPINFO("MOT2",    11, Compass, _state._priv_instance[1].motor_compensation, 0),
 
 #endif // COMPASS_MAX_INSTANCES
@@ -272,6 +276,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @Units: mGauss
     // @Increment: 1
     // @User: Advanced
+    // @Calibration: 1
     AP_GROUPINFO("OFS3",    13, Compass, _state._priv_instance[2].offset, 0),
 
     // @Param: MOT3_X
@@ -299,6 +304,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @Units: mGauss/A
     // @Increment: 1
     // @User: Advanced
+    // @Calibration: 1
     AP_GROUPINFO("MOT3",    14, Compass, _state._priv_instance[2].motor_compensation, 0),
 #endif // COMPASS_MAX_INSTANCES
 
@@ -390,6 +396,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @DisplayName: Compass soft-iron diagonal Z component
     // @Description: DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
     // @User: Advanced
+    // @Calibration: 1
     AP_GROUPINFO("DIA",    24, Compass, _state._priv_instance[0].diagonals, 1.0),
 
     // @Param: ODI_X
@@ -408,6 +415,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @DisplayName: Compass soft-iron off-diagonal Z component
     // @Description: ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
     // @User: Advanced
+    // @Calibration: 1
     AP_GROUPINFO("ODI",    25, Compass, _state._priv_instance[0].offdiagonals, 0),
 
 #if COMPASS_MAX_INSTANCES > 1
@@ -427,6 +435,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @DisplayName: Compass2 soft-iron diagonal Z component
     // @Description: DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
     // @User: Advanced
+    // @Calibration: 1
     AP_GROUPINFO("DIA2",    26, Compass, _state._priv_instance[1].diagonals, 1.0),
 
     // @Param: ODI2_X
@@ -445,6 +454,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @DisplayName: Compass2 soft-iron off-diagonal Z component
     // @Description: ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
     // @User: Advanced
+    // @Calibration: 1
     AP_GROUPINFO("ODI2",    27, Compass, _state._priv_instance[1].offdiagonals, 0),
 #endif // COMPASS_MAX_INSTANCES
 
@@ -465,6 +475,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @DisplayName: Compass3 soft-iron diagonal Z component
     // @Description: DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
     // @User: Advanced
+    // @Calibration: 1
     AP_GROUPINFO("DIA3",    28, Compass, _state._priv_instance[2].diagonals, 1.0),
 
     // @Param: ODI3_X
@@ -483,6 +494,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @DisplayName: Compass3 soft-iron off-diagonal Z component
     // @Description: ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
     // @User: Advanced
+    // @Calibration: 1
     AP_GROUPINFO("ODI3",    29, Compass, _state._priv_instance[2].offdiagonals, 0),
 #endif // COMPASS_MAX_INSTANCES
 #endif // AP_COMPASS_DIAGONALS_ENABLED