AP_Compass: report specific failure reason when fit rejected

[christianpetri]

Summary

Extend the CompassCalibrator::Status enum with three new terminal failure values (BAD_OFFSETS=8, BAD_DIAG_SCALING=9, BAD_FITNESS=10) and refactor fit_acceptable() to set the appropriate specific status instead of falling back to the generic FAILED.

Classification & Testing (check all that apply and add your own)

• Checked by a human programmer
• Automated test(s) verify changes (e.g. unit test, autotest)
• Tested manually, description below (e.g. SITL)

Description

Previously fit_acceptable() returned a silent false — the GCS and user had no way to know why calibration was rejected. This PR maps each rejection condition to a specific Status value that is transmitted in the MAG_CAL_REPORT.cal_status field.

New Status enum values (extend MAG_CAL_STATUS MAVLink enum):

Value	Name	Condition
8	BAD_OFFSETS	Any offset component ≥ COMPASS_OFFS_MAX
9	BAD_DIAG_SCALING	Diagonal or off-diagonal scaling out of range
10	BAD_FITNESS	_fitness > sq(_tolerance)

BAD_RADIUS (7) was already present. All four conditions were previously collapsed into FAILED (5).

Behaviour changes:

• fit_acceptable() loses const (it now calls set_status()).
• set_status(FAILED) is guarded against overwriting any of the five specific BAD_* statuses (previously only BAD_ORIENTATION and BAD_RADIUS were protected).
• update_cal_status(), failed(), is_calibrating(), and send_cal_report() all handle the three new cases identically to BAD_RADIUS.
• No GCS_SEND_TEXT calls added; flash cost +48 bytes on CubeOrange plane (measured via Tools/scripts/size_compare_branches.py).

Note: The new integer values (8/9/10) are transmitted immediately. GCS will display the raw number until a matching MAG_CAL_STATUS entry is added in the upstream mavlink/mavlink XML and a pymavlink bump lands in ArduPilot. The autotest uses getattr(mavutil.mavlink, 'MAG_CAL_BAD_FITNESS', 10) fallbacks pending that bump.

Related

• Discussion: https://discuss.ardupilot.org/t/proposal-early-abort-compass-calibration-when-magnetic-field-is-extreme/143374
• MAVLink enum update: common: rename/add MAG_CAL_STATUS failure enums to FAILED_* + RESIDUALS_HIGH mavlink/mavlink#2478 — adds MAG_CAL_BAD_OFFSETS/BAD_DIAG_SCALING/BAD_FITNESS to common.xml
• MissionPlanner GUI update: ConfigHWCompass: surface MAG_CAL_BAD_OFFSETS/BAD_DIAG_SCALING/BAD_FITNESS failure codes MissionPlanner#3722 — surfaces failure codes in calibration dialogs

Testing

Builds clean on SITL and CubeOrange (./waf configure --board CubeOrange && ./waf plane). Flash delta vs master: +48 bytes (measured on CubeOrange plane via official ArduPilot size_compare_branches.py tool).

SITL autotest SITLCompassCalibration passes:

Tools/autotest/autotest.py test.Copter.SITLCompassCalibration

Two new subtests added:

1. Tight-fit test (COMPASS_CAL_FIT=0.001) — all compasses report MAG_CAL_BAD_FITNESS (10) instead of MAG_CAL_FAILED (5).
2. Selective-failure test (SIM_MAG1_OFS_X/Y/Z=2000) — compass 0 reports MAG_CAL_BAD_OFFSETS (8); remaining compasses still succeed.

This contribution was AI-assisted (GitHub Copilot).

[IamPete1]

I think 950 is too low, that is within the range of offsets that we might see in normal operation. I think we might be better off to try and improve the reporting at the end of a calibration attempt rather than guessing at the beginning.

[rmackay9]

Hi @christianpetri,

Thanks for this. One small thing is we don't accept merge commits so could you rebase on master to remove it?

[peterbarker]

Create an autotest

• want other compasses to keep calibrating if one of them gets a long field
• we have lots of autotests already doing calibration, steal code from there
• does this make calibration faster with a badly-affected compass?

Generally in favour of this at DevCallEU

What's the flash cost?

[IamPete1]

Not keen on the short circuit stuff, but I like the improved reporting at the end of the calibration. To get the most out of this we might need some GCS changes, in mission planner you can't see messages on the compass calibration page, you would have to go and look manualy.

[christianpetri]

Dropped the early-abort in pull_sample() as requested. Kept and improved the fit_acceptable() diagnostics: each failure condition (fitness NaN, radius out of range, offsets too large, diagonal/offdiagonal out of range, fitness over tolerance) now emits its own GCS message with the actual values, so all failures are visible in a single calibration attempt rather than just the first hit. Removed const from fit_acceptable() since GCS_SEND_TEXT is a side effect. This is consistent with the pre-existing messages already in calculate_orientation() and fix_radius().

[christianpetri]

SITL Test Plan

Manual SITL verification for the Mag(N) bad ... STATUSTEXT capture in the compass calibration dialog.

• Mission Planner now shows the Mag(N) bad fit diagnostics directly in the compass calibration panel, so the failure reason is visible immediately without leaving the page.

• Close-up of the Onboard Mag Calibration box showing a specific rejection reason (offsets over limit) alongside the live calibration progress.

Related PRs

• ArduPilot: AP_Compass: report specific failure reason when fit rejected #32757 (emits Mag(N) bad ... diagnostics)
• Mission Planner: ConfigHWCompass: show calibration bad-fit reasons in mag cal dialog MissionPlanner#3706 (captures and displays them)

Setup

sim_vehicle.py -v ArduCopter -f calibration --console --map

Connect Mission Planner via TCP 127.0.0.1:5762, navigate to Initial Setup → Mandatory Hardware → Compass.

Reset between tests

param set COMPASS_CAL_FIT 16
param set SIM_MAG1_OFS_X 0 ; param set SIM_MAG1_OFS_Y 0 ; param set SIM_MAG1_OFS_Z 0
param set SIM_MAG2_OFS_X 0 ; param set SIM_MAG2_OFS_Y 0 ; param set SIM_MAG2_OFS_Z 0
param set SIM_MAG3_OFS_X 0 ; param set SIM_MAG3_OFS_Y 0 ; param set SIM_MAG3_OFS_Z 0
sitl_stop ; sitl_attitude 0 0 0

Tests

#	Scenario	Setup	Action	Expected
1	Success baseline	(defaults)	Start → sitl_magcal → Accept	Progress/report lines, no bad lines
2	Bad fit	COMPASS_CAL_FIT 0.001	Start → sitl_magcal	Mag(N) bad fit: fitness X tolerance Y per compass
3	Bad offset (early abort)	SIM_MAG1_OFS_X/Y/Z 2000	Start → sitl_magcal	Mag(0) bad fit: ofs (2000,2000,2000)>=1800
4	Cancel/restart	(defaults)	Start → Cancel mid-run → Start	Cancel/restart of calibration via MP — diagnostics state resets cleanly (verified with #3706)

Pass criteria

• Success path shows no bad lines.
• Failure path shows Mag(N) bad ... lines, line-separated, latest-per-compass.
• Restart is clean after Cancel.
• Non-compass STATUSTEXT still flows to HUD/messages.
• No UI freeze or crash.

[IamPete1]

I like this! And Thanks for doing the Mission Planner fix too!

[christianpetri]

Rebased and updated based on review feedback. Latest push includes one follow-up cleanup commit:

• comment clarifications around retry timing and autoreboot safety rationale
• removal of two introduced trailing-whitespace lines
• explicit default initialization for _retry_pending (false)
• no behavioral change intended from this follow-up commit

Validation on this branch:

• SITL compass-cal chain manual test: all 4 scenarios pass
• autotest additions remain in place for:
  • BAD_FITNESS with tight COMPASS_CAL_FIT
  • selective failure where one compass reports BAD_OFFSETS and others continue/succeed
• local build sanity check passed

Requesting re-review. If anything is still blocking, I can address it quickly.

[christianpetri]

Follow-up question for maintainers on intent:

For the latest cleanup commit, I clarified comments around two behavior points:

• retry timing visibility (_retry_pending defers transition so BAD_* is observable for one GCS poll cycle)
• autoreboot safety rationale (do not auto-reboot if any compass ends in BAD_*)

Could you please confirm this is the intended handling?

If preferred, I can adjust to a different policy/wording before merge (for example: keep behavior but simplify wording, or adjust reboot policy expectations).

[christianpetri]

Size re-check on latest branch head using ArduPilot size comparison script:

• python3 Tools/scripts/size_compare_branches.py --master-branch origin/master --branch compass-cal-early-abort --vehicle plane --board CubeOrange --hide-unchanged
• Result:

  Board,plane
  CubeOrange,48

So current delta is +48 bytes for CubeOrange plane versus merge-base/origin master.

[christianpetri]

Aligned the AP_Compass MAG_CAL failure status naming with mavlink/mavlink#2478 (FAILED_* names), including compatibility fallbacks in autotest until pymavlink catches up.

[christianpetri]

Hi @peterbarker, quick status update on your requested changes:

• Added/updated autotest coverage in SITLCompassCalibration for selective compass failure handling
• Kept behavior reporting-only (no early-abort speedup path)
• Updated MAG_CAL naming to match common: rename/add MAG_CAL_STATUS failure enums to FAILED_* + RESIDUALS_HIGH mavlink/mavlink#2478 (FAILED_*), with compatibility fallbacks in autotest until pymavlink catches up
• Rebased/squashed branch and cleaned up follow-ups

Could you please re-review and let me know if anything is still blocking from your side?

[rmackay9]

Hi @christianpetri,

I've also added this to the weekly dev call so it will be reviewed then if not before, txs!

[peterbarker]

Could you please re-review and let me know if anything is still blocking from your side?

We meed the mavlink merged both i mavlink/mavlink/master and into our own tree before we can really progress this PR.

[hamishwillee]

Merged in mavlink/mavlink.

[christianpetri]

Hi @hamishwillee and @peterbarker, quick question about the MAVLink to ArduPilot flow.

Is opening that PR sufficient, or are there additional steps we should complete first before it can be brought into ArduPilot?
ArduPilot/mavlink#506

Thank you very much for your guidance.