Move declination to configuration

betaflight · Jan 6, 2025 · 96dfc06 · 96dfc06
1 parent bf82329
commit 96dfc06
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Showing 6 changed files with 62 additions and 45 deletions.
diff --git a/locales/en/messages.json b/locales/en/messages.json
@@ -1396,6 +1396,15 @@
     "configurationMagAlignmentHelp": {
         "message": "The magnetometer alignment is the orientation of the magnetometer sensor on the flight controller board. The default is usually correct, but if you have a custom build or a flight controller with a different magnetometer orientation, you may need to adjust this setting."
     },
+    "configurationMagDeclination": {
+        "message": "Magnetometer Declination"
+    },
+    "configurationMagDeclinationInput": {
+        "message": "Declination Degrees"
+    },
+    "configurationMagDeclinationHelp": {
+        "message": "The magnetic declination is the angle between magnetic north and true north. It is different for every location on earth. You can find the declination for your location on the internet"
+    },
     "configurationBoardAlignment": {
         "message": "Board Alignment"
     },
@@ -1424,7 +1433,7 @@
         "message": "$t(configurationBoardAlignmentYaw.message)"
     },
     "configurationMagAlignment": {
-        "message": "Mag Alignment"
+        "message": "Magnetometer Alignment"
     },
     "configurationBoardAlignmentHelp": {
         "message": "Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc. When running external sensors, use the sensor alignments (Gyro, Acc, Mag) to define sensor position independent from board orientation. "
@@ -1468,9 +1477,6 @@
     "configurationSensorAlignmentAcc": {
         "message": "ACCEL Alignment"
     },
-    "configurationSensorAlignmentMag": {
-        "message": "Alignment"
-    },
     "configurationSensorAlignmentDefaultOption": {
        "message": "Default"
     },
@@ -1489,9 +1495,6 @@
     "configurationArmingHelp": {
         "message": "Some Arming options may require accelerometer be enabled"
     },
-    "configurationMagDeclination": {
-        "message": "Magnetometer Declination [deg]"
-    },
     "configurationReverseMotorSwitch": {
         "message": "Motor direction is reversed"
     },

diff --git a/src/js/msp/MSPHelper.js b/src/js/msp/MSPHelper.js
@@ -636,13 +636,13 @@ MspHelper.prototype.process_data = function (dataHandler) {
                     FC.SENSOR_ALIGNMENT.gyro_1_align = data.readU8();
                     FC.SENSOR_ALIGNMENT.gyro_2_align = data.readU8();
                     if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_47)) {
-                        FC.SENSOR_ALIGNMENT.gyro_align_roll = data.readU16() / 10;
-                        FC.SENSOR_ALIGNMENT.gyro_align_pitch = data.readU16() / 10;
-                        FC.SENSOR_ALIGNMENT.gyro_align_yaw = data.readU16() / 10;
+                        FC.SENSOR_ALIGNMENT.gyro_align_roll = data.read16() / 10;
+                        FC.SENSOR_ALIGNMENT.gyro_align_pitch = data.read16() / 10;
+                        FC.SENSOR_ALIGNMENT.gyro_align_yaw = data.read16() / 10;
 
-                        FC.SENSOR_ALIGNMENT.mag_align_roll = data.readU16() / 10;
-                        FC.SENSOR_ALIGNMENT.mag_align_pitch = data.readU16() / 10;
-                        FC.SENSOR_ALIGNMENT.mag_align_yaw = data.readU16() / 10;
+                        FC.SENSOR_ALIGNMENT.mag_align_roll = data.read16() / 10;
+                        FC.SENSOR_ALIGNMENT.mag_align_pitch = data.read16() / 10;
+                        FC.SENSOR_ALIGNMENT.mag_align_yaw = data.read16() / 10;
                     }
                     break;
                 case MSPCodes.MSP_DISPLAYPORT:
@@ -2057,8 +2057,6 @@ MspHelper.prototype.crunch = function (code, modifierCode = undefined) {
                 .push8(FC.SENSOR_ALIGNMENT.gyro_1_align)
                 .push8(FC.SENSOR_ALIGNMENT.gyro_2_align);
             if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_47)) {
-                // // Use gyro_2_align[RPY] when GYRO_CONFIG_USE_GYRO_2 = 1
-                // if (FC.SENSOR_ALIGNMENT.gyro_to_use === 1) {
                 buffer.push16(FC.SENSOR_ALIGNMENT.gyro_align_roll * 10);
                 buffer.push16(FC.SENSOR_ALIGNMENT.gyro_align_pitch * 10);
                 buffer.push16(FC.SENSOR_ALIGNMENT.gyro_align_yaw * 10);

diff --git a/src/js/tabs/configuration.js b/src/js/tabs/configuration.js
@@ -9,6 +9,7 @@ import MSPCodes from "../msp/MSPCodes";
 import { API_VERSION_1_45, API_VERSION_1_46, API_VERSION_1_47 } from "../data_storage";
 import { updateTabList } from "../utils/updateTabList";
 import $ from "jquery";
+import { have_sensor } from "../sensor_helpers";
 
 const configuration = {
     analyticsChanges: {},
@@ -53,6 +54,11 @@ configuration.initialize = function (callback) {
                     : Promise.resolve(true),
             )
             .then(() => MSP.promise(MSPCodes.MSP_ADVANCED_CONFIG))
+            .then(() =>
+                semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_46)
+                    ? MSP.promise(MSPCodes.MSP_COMPASS_CONFIG)
+                    : Promise.resolve(true),
+            )
             .then(() => load_html());
     }
 
@@ -128,6 +134,15 @@ configuration.initialize = function (callback) {
         const orientation_gyro_1_align_e = $("select.gyro_1_align");
         const orientation_gyro_2_align_e = $("select.gyro_2_align");
 
+        const hasMag =
+            have_sensor(FC.CONFIG.activeSensors, "mag") && semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_46);
+
+        if (hasMag) {
+            $('input[name="mag_declination"]').val(FC.COMPASS_CONFIG.mag_declination.toFixed(1));
+        } else {
+            $("div.mag_declination").parent().parent().hide();
+        }
+
         if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_47)) {
             $(".tab-configuration .gyro_align_custom").show();
             $(".tab-configuration .mag_align_custom").show();
@@ -433,6 +448,12 @@ configuration.initialize = function (callback) {
                     FC.ARMING_CONFIG.auto_disarm_delay = parseInt($('input[id="configurationAutoDisarmDelay"]').val());
                 }
             }
+
+            // declination added first in #3676
+            if (hasMag) {
+                FC.COMPASS_CONFIG.mag_declination = $('input[name="mag_declination"]').val();
+            }
+
             FC.ARMING_CONFIG.small_angle = parseInt($('input[id="configurationSmallAngle"]').val());
 
             FC.SENSOR_ALIGNMENT.gyro_to_use = parseInt(orientation_gyro_to_use_e.val());
@@ -524,6 +545,14 @@ configuration.initialize = function (callback) {
                             : Promise.resolve(true),
                     )
                     .then(() => MSP.promise(MSPCodes.MSP_SET_RX_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_RX_CONFIG)))
+                    .then(() =>
+                        semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_46)
+                            ? MSP.promise(
+                                MSPCodes.MSP_SET_COMPASS_CONFIG,
+                                mspHelper.crunch(MSPCodes.MSP_SET_COMPASS_CONFIG),
+                            )
+                            : Promise.resolve(true),
+                    )
                     .then(() => mspHelper.writeConfiguration(true));
             }
 

diff --git a/src/js/tabs/gps.js b/src/js/tabs/gps.js
@@ -23,10 +23,6 @@ gps.initialize = async function (callback) {
     // mag support added in 1.46
     const hasMag = have_sensor(FC.CONFIG.activeSensors, "mag") && semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_46);
 
-    if (hasMag) {
-        await MSP.promise(MSPCodes.MSP_COMPASS_CONFIG);
-    }
-
     await MSP.promise(MSPCodes.MSP_GPS_CONFIG);
 
     load_html();
@@ -64,15 +60,7 @@ gps.initialize = async function (callback) {
         }
 
         function get_attitude_data() {
-            MSP.send_message(MSPCodes.MSP_ATTITUDE, false, false, load_compass_config);
-        }
-
-        function load_compass_config() {
-            if (hasMag) {
-                MSP.send_message(MSPCodes.MSP_COMPASS_CONFIG, false, false, get_imu_data);
-            } else {
-                get_imu_data();
-            }
+            MSP.send_message(MSPCodes.MSP_ATTITUDE, false, false, get_imu_data);
         }
 
         function get_imu_data() {
@@ -198,13 +186,6 @@ gps.initialize = async function (callback) {
         gpsBaudrateElement.prop("disabled", true);
         gpsBaudrateElement.parent().hide();
 
-        // fill magnetometer
-        if (hasMag) {
-            $('input[name="mag_declination"]').val(FC.COMPASS_CONFIG.mag_declination.toFixed(1));
-        } else {
-            $("div.mag_declination").hide();
-        }
-
         if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_46)) {
             $(".GPS_info td.positionalDop").parent().hide();
         }
@@ -427,12 +408,8 @@ gps.initialize = async function (callback) {
             // fill some data
             FC.GPS_CONFIG.auto_baud = $('input[name="gps_auto_baud"]').is(":checked") ? 1 : 0;
             FC.GPS_CONFIG.auto_config = $('input[name="gps_auto_config"]').is(":checked") ? 1 : 0;
-            FC.COMPASS_CONFIG.mag_declination = $('input[name="mag_declination"]').val();
 
             await MSP.promise(MSPCodes.MSP_SET_FEATURE_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FEATURE_CONFIG));
-            if (hasMag) {
-                await MSP.promise(MSPCodes.MSP_SET_COMPASS_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_COMPASS_CONFIG));
-            }
             await MSP.promise(MSPCodes.MSP_SET_GPS_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_GPS_CONFIG));
 
             mspHelper.writeConfiguration(true);

diff --git a/src/tabs/configuration.html b/src/tabs/configuration.html
@@ -284,7 +284,6 @@
                     <div class="spacer_box">
                         <div class="select">
                             <label>
-                                <span i18n="configurationSensorAlignmentMag"></span>
                                 <select class="magalign">
                                     <option value="0" i18n="configurationSensorAlignmentDefaultOption"></option>
                                     <!-- list generated here -->
@@ -323,6 +322,22 @@
                 </div>
                 <!-- END MAGNETOMETER ALIGNMENT -->
 
+                <!-- MAGNETIC DECLINATION -->
+                <div class="gui_box grey">
+                    <div class="gui_box_titlebar">
+                        <div class="spacer_box_title" i18n="configurationMagDeclination"></div>
+                        <div class="helpicon cf_tip" i18n_title="configurationMagDeclinationHelp"></div>
+                    </div>
+                    <div class="spacer_box">
+                        <div class="number mag_declination">
+                            <label> <input type="number" name="mag_declination" step="0.1" min="-30.0" max="30.0" />
+                            <span i18n="configurationMagDeclinationInput"></span>
+                            </label>
+                        </div>
+                    </div>
+                </div>
+                <!-- END MAGNETIC DECLINATION -->
+
                 <!-- ACCELEROMETER TRIM -->
                 <div class="gui_box grey accelNeeded">
                     <div class="gui_box_titlebar">

diff --git a/src/tabs/gps.html b/src/tabs/gps.html
@@ -59,11 +59,6 @@
                                     </select>
                                     <span i18n="configurationGPSubxSbas"></span>
                                 </div>
-                                <div class="number mag_declination">
-                                    <label> <input type="number" name="mag_declination" step="0.1" min="0" max="359.9" />
-                                    <span i18n="configurationMagDeclination"></span>
-                                    </label>
-                                </div>
                             </div>
                         </div>
                     </div>