sensor_mag.msg: add is_external flag & set it in the mag drivers

With this we don't have to use the ioctl MAGIOCGEXTERNAL, which does not
work on POSIX (eg. RPi).

msg/sensor_mag.msg

@@ -11,3 +11,5 @@ int16 y_raw
 int16 z_raw
 
 uint32 device_id	# unique device ID for the sensor that does not change between power cycles
+uint8  is_external  # if 1, the mag is external (i.e. not built into the board)
+

src/drivers/bmm150/bmm150.cpp

@@ -251,7 +251,6 @@ BMM150 :: BMM150(int bus, const char *path, bool external, enum Rotation rotatio
 	_external(false),
 	_running(false),
 	_call_interval(0),
-	_report{0},
 	_reports(nullptr),
 	_collect_phase(false),
 	_scale{},
@@ -344,7 +343,7 @@ int BMM150::init()
 	}
 
 	/* allocate basic report buffers */
-	_reports = new ringbuffer::RingBuffer(2, sizeof(_report));
+	_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report));
 
 	if (_reports == nullptr) {
 		goto out;
@@ -433,7 +432,7 @@ BMM150::stop()
 ssize_t
 BMM150::read(struct file *filp, char *buffer, size_t buflen)
 {
-	unsigned count = buflen / sizeof(_report);
+	unsigned count = buflen / sizeof(mag_report);
 	struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer);
 	int ret = 0;
 
@@ -684,6 +683,7 @@ BMM150::collect()
 
 
 	mrb.timestamp = hrt_absolute_time();
+	mrb.is_external = is_external();
 
 	// report the error count as the number of bad transfers.
 	// This allows the higher level code to decide if it

src/drivers/bmm150/bmm150.hpp

@@ -228,7 +228,6 @@ private:
 	unsigned        _call_interval;
 
 
-	struct mag_report _report;
 	ringbuffer::RingBuffer  *_reports;
 
 	bool            _collect_phase;

src/drivers/hmc5883/hmc5883.cpp

@@ -997,6 +997,7 @@ HMC5883::collect()
 	// XXX revisit for SPI part, might require a bus type IOCTL
 	unsigned dummy;
 	sensor_is_onboard = !_interface->ioctl(MAGIOCGEXTERNAL, dummy);
+	new_report.is_external = !sensor_is_onboard;
 
 	if (sensor_is_onboard) {
 		// convert onboard so it matches offboard for the

src/drivers/ist8310/ist8310.cpp

@@ -913,6 +913,7 @@ IST8310::collect()
 
 	/* this should be fairly close to the end of the measurement, so the best approximation of the time */
 	new_report.timestamp = hrt_absolute_time();
+	new_report.is_external = !sensor_is_onboard;
 	new_report.error_count = perf_event_count(_comms_errors);
 	new_report.scaling = _range_scale;
 	new_report.device_id = _device_id.devid;

src/drivers/lis3mdl/lis3mdl.cpp

@@ -945,6 +945,7 @@ LIS3MDL::collect()
 
 	unsigned dummy;
 	sensor_is_onboard = !_interface->ioctl(MAGIOCGEXTERNAL, dummy);
+	new_report.is_external = !sensor_is_onboard;
 
 	/*
 	 * RAW outputs

src/drivers/lsm303d/lsm303d.cpp

@@ -1653,8 +1653,7 @@ LSM303D::mag_measure()
 	} raw_mag_report;
 #pragma pack(pop)
 
-	mag_report mag_report;
+	mag_report mag_report {};
-	memset(&mag_report, 0, sizeof(mag_report));
 
 	/* start the performance counter */
 	perf_begin(_mag_sample_perf);
@@ -1680,6 +1679,7 @@ LSM303D::mag_measure()
 	 */
 
 	mag_report.timestamp = hrt_absolute_time();
+	mag_report.is_external = is_external();
 
 	mag_report.x_raw = raw_mag_report.x;
 	mag_report.y_raw = raw_mag_report.y;

src/drivers/mpu9250/mag.cpp

@@ -205,6 +205,7 @@ MPU9250_mag::_measure(struct ak8963_regs data)
 
 	mag_report	mrb;
 	mrb.timestamp = hrt_absolute_time();
+	mrb.is_external = false;
 
 	/*
 	 * Align axes - note the accel & gryo are also re-aligned so this

src/modules/sensors/voted_sensors_update.cpp

@@ -406,6 +406,7 @@ void VotedSensorsUpdate::parameters_update()
 		}
 
 		int topic_device_id = report.device_id;
+		bool is_external = (bool)report.is_external;
 		_mag_device_id[topic_instance] = topic_device_id;
 
 		// find the driver handle that matches the topic_device_id
@@ -465,28 +466,25 @@ void VotedSensorsUpdate::parameters_update()
 
 				(void)sprintf(str, "CAL_MAG%u_ROT", i);
 
-				if (h.isValid()) { //FIXME: get the 'is external' information via uorb topic
+				if (is_external) {
-					if (h.ioctl(MAGIOCGEXTERNAL, 0) <= 0) {
+					int32_t mag_rot;
-						/* mag is internal - reset param to -1 to indicate internal mag */
+					param_get(param_find(str), &mag_rot);
-						int32_t minus_one;
-						param_get(param_find(str), &minus_one);
 
-						if (minus_one != MAG_ROT_VAL_INTERNAL) {
+					/* check if this mag is still set as internal, otherwise leave untouched */
-							minus_one = MAG_ROT_VAL_INTERNAL;
+					if (mag_rot < 0) {
-							param_set_no_notification(param_find(str), &minus_one);
+						/* it was marked as internal, change to external with no rotation */
-						}
+						mag_rot = 0;
+						param_set_no_notification(param_find(str), &mag_rot);
+					}
 
-					} else {
+				} else {
-						/* mag is external */
+					/* mag is internal - reset param to -1 to indicate internal mag */
-						int32_t mag_rot;
+					int32_t minus_one;
-						param_get(param_find(str), &mag_rot);
+					param_get(param_find(str), &minus_one);
 
-						/* check if this mag is still set as internal, otherwise leave untouched */
+					if (minus_one != MAG_ROT_VAL_INTERNAL) {
-						if (mag_rot < 0) {
+						minus_one = MAG_ROT_VAL_INTERNAL;
-							/* it was marked as internal, change to external with no rotation */
+						param_set_no_notification(param_find(str), &minus_one);
-							mag_rot = 0;
-							param_set_no_notification(param_find(str), &mag_rot);
-						}
 					}
 				}
 

src/modules/uavcan/sensors/mag.cpp

@@ -156,6 +156,7 @@ void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<ua
 	 */
 	_report.timestamp = hrt_absolute_time();
 	_report.device_id = _device_id.devid;
+	_report.is_external = true;
 
 	_report.x = (msg.magnetic_field_ga[0] - _scale.x_offset) * _scale.x_scale;
 	_report.y = (msg.magnetic_field_ga[1] - _scale.y_offset) * _scale.y_scale;

src/platforms/posix/drivers/accelsim/accelsim.cpp

@@ -915,8 +915,7 @@ ACCELSIM::mag_measure()
 	} raw_mag_report;
 #pragma pack(pop)
 
-	mag_report mag_report;
+	mag_report mag_report = {};
-	memset(&mag_report, 0, sizeof(mag_report));
 
 	/* start the performance counter */
 	perf_begin(_mag_sample_perf);
@@ -946,6 +945,7 @@ ACCELSIM::mag_measure()
 
 
 	mag_report.timestamp = hrt_absolute_time();
+	mag_report.is_external = false;
 
 	mag_report.x_raw = (int16_t)(raw_mag_report.x / _mag_range_scale);
 	mag_report.y_raw = (int16_t)(raw_mag_report.y / _mag_range_scale);

src/platforms/posix/drivers/df_ak8963_wrapper/df_ak8963_wrapper.cpp

@@ -278,6 +278,7 @@ int DfAK8963Wrapper::_publish(struct mag_sensor_data &data)
 
 	mag_report mag_report = {};
 	mag_report.timestamp = hrt_absolute_time();
+	mag_report.is_external = true;
 
 	// TODO: remove these (or get the values)
 	mag_report.x_raw = 0;

src/platforms/posix/drivers/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp

@@ -269,6 +269,7 @@ int DfHmc9250Wrapper::_publish(struct mag_sensor_data &data)
 
 	mag_report mag_report = {};
 	mag_report.timestamp = hrt_absolute_time();
+	mag_report.is_external = true;
 
 	/* The standard external mag by 3DR has x pointing to the
 	 * right, y pointing backwards, and z down, therefore switch x

src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp

@@ -624,6 +624,7 @@ int DfLsm9ds1Wrapper::_publish(struct imu_sensor_data &data)
 
 	accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time();
 	mag_report.timestamp = accel_report.timestamp;
+	mag_report.is_external = false;
 
 	// TODO: get these right
 	gyro_report.scaling = -1.0f;

src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp

@@ -700,6 +700,7 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
 
 	if (_mag_enabled) {
 		mag_report.timestamp = accel_report.timestamp;
+		mag_report.is_external = false;
 
 		mag_report.scaling = -1.0f;
 		mag_report.range_ga = -1.0f;