sensors: prefix mag config param SENS instead of CAL (#20723)

* sensors: prefix mag config param SENS instead of CAL
* mag sides: keep CAL_MAG_SIDES required by QGC

src/modules/commander/mag_calibration.cpp

@@ -106,7 +106,7 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
 	// Collect: As defined by configuration
 	// start with a full mask, all six bits set
 	int32_t cal_mask = (1 << 6) - 1;
-	param_get(param_find("CAL_MAG_SIDES"), &cal_mask);
+	param_get(param_find("SENS_MAG_SIDES"), &cal_mask);
 
 	// Calibrate all mags at the same time
 	if (result == PX4_OK) {
@@ -696,10 +696,10 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
 
 	// Attempt to automatically determine external mag rotations
 	if (result == calibrate_return_ok) {
-		int32_t param_cal_mag_rot_auto = 0;
-		param_get(param_find("CAL_MAG_ROT_AUTO"), &param_cal_mag_rot_auto);
+		int32_t param_sens_mag_autorot = 0;
+		param_get(param_find("SENS_MAG_AUTOROT"), &param_sens_mag_autorot);
 
-		if ((worker_data.calibration_sides >= 3) && (param_cal_mag_rot_auto == 1)) {
+		if ((worker_data.calibration_sides >= 3) && (param_sens_mag_autorot == 1)) {
 
 			// find first internal mag to use as reference
 			int internal_index = -1;

src/modules/sensors/sensor_params_mag.c

@@ -53,6 +53,15 @@
  * @value 63 Six side calibration
  * @group Sensors
  */
+PARAM_DEFINE_INT32(SENS_MAG_SIDES, 63);
+
+/**
+ * For legacy QGC support only
+ *
+ * Use SENS_MAG_SIDES instead
+ *
+ * @group Sensors
+ */
 PARAM_DEFINE_INT32(CAL_MAG_SIDES, 63);
 
 /**
@@ -76,7 +85,7 @@ PARAM_DEFINE_INT32(CAL_MAG_COMP_TYP, 0);
  * @boolean
  * @group Sensors
  */
-PARAM_DEFINE_INT32(CAL_MAG_ROT_AUTO, 1);
+PARAM_DEFINE_INT32(SENS_MAG_AUTOROT, 1);
 
 /**
  * Magnetometer max rate.

src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp

@@ -49,8 +49,8 @@ VehicleMagnetometer::VehicleMagnetometer() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
 {
-	param_find("CAL_MAG_SIDES");
-	param_find("CAL_MAG_ROT_AUTO");
+	param_find("SENS_MAG_SIDES");
+	param_find("SENS_MAG_AUTOROT");
 
 	_voter.set_timeout(SENSOR_TIMEOUT);
 	_voter.set_equal_value_threshold(1000);
@@ -98,12 +98,26 @@ bool VehicleMagnetometer::ParametersUpdate(bool force)
 {
 	// Check if parameters have changed
 	if (_parameter_update_sub.updated() || force) {
+		const int cal_mag_sides_prev = _param_cal_mag_sides.get();
+
 		// clear update
 		parameter_update_s param_update;
 		_parameter_update_sub.copy(&param_update);
 
 		updateParams();
 
+		// Legacy QGC support: CAL_MAG_SIDES required to display the correct UI
+		// Force it to be a copy of the new SENS_MAG_SIDES
+		if (_param_cal_mag_sides.get() != _param_sens_mag_sides.get()) {
+			if (_param_cal_mag_sides.get() != cal_mag_sides_prev) {
+				// The user tried to change the deprecated parameter
+				mavlink_log_critical(&_mavlink_log_pub, "CAL_MAG_SIDES deprecated, use SENS_MAG_SIDES\t");
+			}
+
+			_param_cal_mag_sides.set(_param_sens_mag_sides.get());
+			_param_cal_mag_sides.commit();
+		}
+
 		// Mag compensation type
 		MagCompensationType mag_comp_typ = static_cast<MagCompensationType>(_param_mag_comp_typ.get());
 

src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp

@@ -177,7 +177,9 @@ private:
 		(ParamInt<px4::params::CAL_MAG_COMP_TYP>) _param_mag_comp_typ,
 		(ParamBool<px4::params::SENS_MAG_MODE>) _param_sens_mag_mode,
 		(ParamFloat<px4::params::SENS_MAG_RATE>) _param_sens_mag_rate,
-		(ParamBool<px4::params::SENS_MAG_AUTOCAL>) _param_sens_mag_autocal
+		(ParamBool<px4::params::SENS_MAG_AUTOCAL>) _param_sens_mag_autocal,
+		(ParamInt<px4::params::CAL_MAG_SIDES>) _param_cal_mag_sides,
+		(ParamInt<px4::params::SENS_MAG_SIDES>) _param_sens_mag_sides
 	)
 };
 }; // namespace sensors