sensors : add support for 4th magnetometer

src/modules/sensors/sensor_params.c

@@ -666,6 +666,103 @@ PARAM_DEFINE_FLOAT(CAL_ACC2_YSCALE, 1.0f);
  */
 PARAM_DEFINE_FLOAT(CAL_ACC2_ZSCALE, 1.0f);
 
+/**
+ * ID of Magnetometer the calibration is for.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG3_ID, 0);
+
+/**
+ * Rotation of magnetometer 2 relative to airframe.
+ *
+ * An internal magnetometer will force a value of -1, so a GCS
+ * should only attempt to configure the rotation if the value is
+ * greater than or equal to zero.
+ *
+ * @value -1 Internal mag
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ * @value 8 Roll 180°
+ * @value 9 Roll 180°, Yaw 45°
+ * @value 10 Roll 180°, Yaw 90°
+ * @value 11 Roll 180°, Yaw 135°
+ * @value 12 Pitch 180°
+ * @value 13 Roll 180°, Yaw 225°
+ * @value 14 Roll 180°, Yaw 270°
+ * @value 15 Roll 180°, Yaw 315°
+ * @value 16 Roll 90°
+ * @value 17 Roll 90°, Yaw 45°
+ * @value 18 Roll 90°, Yaw 90°
+ * @value 19 Roll 90°, Yaw 135°
+ * @value 20 Roll 270°
+ * @value 21 Roll 270°, Yaw 45°
+ * @value 22 Roll 270°, Yaw 90°
+ * @value 23 Roll 270°, Yaw 135°
+ * @value 24 Pitch 90°
+ * @value 25 Pitch 270°
+ *
+ * @min -1
+ * @max 30
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_MAG3_ROT, -1);
+
+/**
+ * Magnetometer X-axis offset
+ *
+ * @min -500.0
+ * @max 500.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG3_XOFF, 0.0f);
+
+/**
+ * Magnetometer Y-axis offset
+ *
+ * @min -500.0
+ * @max 500.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG3_YOFF, 0.0f);
+
+/**
+ * Magnetometer Z-axis offset
+ *
+ * @min -500.0
+ * @max 500.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG3_ZOFF, 0.0f);
+
+/**
+ * Magnetometer X-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG3_XSCALE, 1.0f);
+
+/**
+ * Magnetometer Y-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG3_YSCALE, 1.0f);
+
+/**
+ * Magnetometer Z-axis scaling factor
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_MAG3_ZSCALE, 1.0f);
+
+
 /**
  * Primary accel ID
  *