AP_Compass: remove IIS2MDC driver and migrate boards to LIS2MDL

Tools/scripts/build_options.py

@@ -215,7 +215,6 @@ def config_option(self):
     Feature('Compass', 'HMC5843', 'AP_COMPASS_HMC5843_ENABLED', 'Enable HMC5843 compasses', 1, None),
     Feature('Compass', 'ICM20948', 'AP_COMPASS_ICM20948_ENABLED', 'Enable AK0991x on ICM20948 compasses', 1, "AK09916"),
     Feature('Compass', 'IST8308', 'AP_COMPASS_IST8308_ENABLED', 'Enable IST8308 compasses', 1, None),
-    Feature('Compass', 'IIS2MDC', 'AP_COMPASS_IIS2MDC_ENABLED', 'Enable IIS2MDC compasses', 0, None),
     Feature('Compass', 'IST8310', 'AP_COMPASS_IST8310_ENABLED', 'Enable IST8310 compasses', 1, None),
     Feature('Compass', 'LIS3MDL', 'AP_COMPASS_LIS3MDL_ENABLED', 'Enable LIS3MDL compasses', 1, None),
     Feature('Compass', 'LIS2MDL', 'AP_COMPASS_LIS2MDL_ENABLED', 'Enable LIS2MDL compasses', 1, None),

Tools/scripts/decode_devid.py

@@ -70,7 +70,6 @@ def num(s):
     0x15 : "DEVTYPE_AK09915",
     0x16 : "DEVTYPE_QMC5883P",
     0x17 : "DEVTYPE_BMM350",
-    0x18 : "DEVTYPE_IIS2MDC",
     0x19 : "DEVTYPE_LIS2MDL",
 }
 

libraries/AP_Compass/AP_Compass.cpp

@@ -24,7 +24,6 @@
 #include "AP_Compass_BMM150.h"
 #include "AP_Compass_BMM350.h"
 #include "AP_Compass_HMC5843.h"
-#include "AP_Compass_IIS2MDC.h"
 #include "AP_Compass_IST8308.h"
 #include "AP_Compass_IST8310.h"
 #include "AP_Compass_LSM303D.h"
@@ -532,7 +531,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @Param: DISBLMSK
     // @DisplayName: Compass disable driver type mask
     // @Description: This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup
-    // @Bitmask: 0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK0991x,7:IST8310,8:ICM20948,9:MMC3416,11:DroneCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP,18:ExternalAHRS,19:MMC5XX3,20:QMC5883P,21:BMM350,22:IIS2MDC,23:LIS2MDL
+    // @Bitmask: 0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK0991x,7:IST8310,8:ICM20948,9:MMC3416,11:DroneCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP,18:ExternalAHRS,19:MMC5XX3,20:QMC5883P,21:BMM350,23:LIS2MDL
     // @User: Advanced
     AP_GROUPINFO("DISBLMSK", 33, Compass, _driver_type_mask, 0),
 
@@ -770,6 +769,30 @@ void Compass::init()
     }
 #endif  // AP_CUSTOMROTATIONS_ENABLED
 
+    // migrate stored DEVTYPE_IIS2MDC (0x18) device IDs to
+    // DEVTYPE_LIS2MDL (0x19) so that existing mag calibrations are
+    // preserved across the removal of the IIS2MDC driver.
+    // PARAMETER_CONVERSION - Added: May-2026
+    {
+        const uint8_t old_devtype_iis2mdc = 0x18;
+        for (StateIndex i(0); i<COMPASS_MAX_INSTANCES; i++) {
+            const uint32_t did = uint32_t(_state[i].dev_id.get());
+            if (did != 0 && AP_HAL::Device::devid_get_devtype(did) == old_devtype_iis2mdc) {
+                _state[i].dev_id.set_and_save(int32_t(
+                    AP_HAL::Device::change_bus_id(did, AP_Compass_Backend::DEVTYPE_LIS2MDL)));
+            }
+        }
+#if COMPASS_MAX_INSTANCES > 1
+        for (Priority i(0); i<COMPASS_MAX_INSTANCES; i++) {
+            const uint32_t pri = uint32_t(_priority_did_stored_list[i].get());
+            if (pri != 0 && AP_HAL::Device::devid_get_devtype(pri) == old_devtype_iis2mdc) {
+                _priority_did_stored_list[i].set_and_save(int32_t(
+                    AP_HAL::Device::change_bus_id(pri, AP_Compass_Backend::DEVTYPE_LIS2MDL)));
+            }
+        }
+#endif
+    }
+
 #if COMPASS_MAX_INSTANCES > 1
     // Look if there was a primary compass setup in previous version
     // if so and the primary compass is not set in current setup
@@ -1176,25 +1199,6 @@ void Compass::_probe_external_i2c_compasses(void)
         }
     }
 #endif  // AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
-#endif  // AP_COMPASS_QMC5883P_ENABLED
-
-#if AP_COMPASS_IIS2MDC_ENABLED
-    //external i2c bus
-    FOREACH_I2C_EXTERNAL(i) {
-        probe_i2c_dev(DRIVER_IIS2MDC, AP_Compass_IIS2MDC::probe, i, HAL_COMPASS_IIS2MDC_I2C_ADDR, true, HAL_COMPASS_IIS2MDC_ORIENTATION_EXTERNAL);
-        RETURN_IF_NO_SPACE;
-    }
-
-    // internal i2c bus
-#if AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
-    if (all_external) {
-        // only probe IIS2MDC on internal if we are treating internals as externals
-        FOREACH_I2C_INTERNAL(i) {
-            probe_i2c_dev(DRIVER_IIS2MDC, AP_Compass_IIS2MDC::probe, i, HAL_COMPASS_IIS2MDC_I2C_ADDR, all_external, all_external?HAL_COMPASS_IIS2MDC_ORIENTATION_EXTERNAL:HAL_COMPASS_IIS2MDC_ORIENTATION_INTERNAL);
-            RETURN_IF_NO_SPACE;
-        }
-    }
-#endif  // AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
 #endif  // AP_COMPASS_QMC5883P_ENABLED
 
     // AK09916 on ICM20948
@@ -1253,9 +1257,12 @@ void Compass::_probe_external_i2c_compasses(void)
 #endif
     // internal lis2mdl
 #if AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED
-    FOREACH_I2C_INTERNAL(i) {
-        probe_i2c_dev(DRIVER_LIS2MDL, AP_Compass_LIS2MDL::probe, i, HAL_COMPASS_LIS2MDL_I2C_ADDR, all_external, ROTATION_NONE);
-        RETURN_IF_NO_SPACE;
+    if (all_external) {
+        // only probe LIS2MDL on internal if we are treating internals as externals
+        FOREACH_I2C_INTERNAL(i) {
+            probe_i2c_dev(DRIVER_LIS2MDL, AP_Compass_LIS2MDL::probe, i, HAL_COMPASS_LIS2MDL_I2C_ADDR, all_external, ROTATION_NONE);
+            RETURN_IF_NO_SPACE;
+        }
     }
 #endif
 #endif  // AP_COMPASS_LIS2MDL_ENABLED

libraries/AP_Compass/AP_Compass.h

@@ -490,9 +490,6 @@ friend class AP_Compass_DroneCAN;
 #if AP_COMPASS_BMM350_ENABLED
         DRIVER_BMM350   =21,
 #endif
-#if AP_COMPASS_IIS2MDC_ENABLED
-        DRIVER_IIS2MDC  =22,
-#endif
 #if AP_COMPASS_LIS2MDL_ENABLED
         DRIVER_LIS2MDL  =23,
 #endif

libraries/AP_Compass/AP_Compass_Backend.h

@@ -77,7 +77,6 @@ class AP_Compass_Backend
         DEVTYPE_AK09915 = 0x15,
     	DEVTYPE_QMC5883P = 0x16,
         DEVTYPE_BMM350 = 0x17,
-        DEVTYPE_IIS2MDC = 0x18,
         DEVTYPE_LIS2MDL = 0x19,
     };
 

libraries/AP_Compass/AP_Compass_config.h

@@ -80,10 +80,6 @@
 #define AP_COMPASS_ICM20948_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED && AP_INERTIALSENSOR_ENABLED
 #endif
 
-#ifndef AP_COMPASS_IIS2MDC_ENABLED
-#define AP_COMPASS_IIS2MDC_ENABLED 0
-#endif
-
 #ifndef AP_COMPASS_IST8308_ENABLED
 #define AP_COMPASS_IST8308_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
 #endif

libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat

@@ -173,9 +173,8 @@ PH4 HW_REV_SENS ADC3 SCALE(1)
 BARO BMP388 I2C:1:0x76
 
 # Compass
-COMPASS IIS2MDC I2C:2:0x1E false ROTATION_NONE
+COMPASS LIS2MDL I2C:2:0x1E false ROTATION_NONE
 define AP_COMPASS_PROBING_ENABLED 1
-define AP_COMPASS_IIS2MDC_ENABLED 1
 
 # IIM42653 IMU on SPI1
 SPIDEV iim42653  SPI1 DEVID1  IMU1_CS MODE3  2*MHZ  16*MHZ

libraries/AP_HAL_ChibiOS/hwdef/ARK_PI6X/hwdef.dat

@@ -99,9 +99,8 @@ define HAL_I2C_INTERNAL_MASK 6
 BARO BMP388 I2C:2:0x76
 
 # Compass on I2C4
-COMPASS IIS2MDC I2C:2:0x1E false ROTATION_YAW_180
+COMPASS LIS2MDL I2C:2:0x1E false ROTATION_YAW_180
 define AP_COMPASS_PROBING_ENABLED 1
-define AP_COMPASS_IIS2MDC_ENABLED 1
 
 # IMU heater
 PB10 HEATER_EN OUTPUT LOW GPIO(80)

libraries/AP_HAL_ChibiOS/hwdef/CUAV-7-Nano/hwdef.dat

@@ -269,8 +269,7 @@ define AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED 0
 define AP_COMPASS_IST8310_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90
 COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_90_YAW_90
 COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90
-COMPASS IIS2MDC I2C:0:0x1E false ROTATION_ROLL_90_YAW_270
-define AP_COMPASS_IIS2MDC_ENABLED 1
+COMPASS LIS2MDL I2C:0:0x1E false ROTATION_ROLL_90_YAW_270
 
 # IMUs
 IMU Invensensev3 SPI:iim42652 ROTATION_ROLL_90_YAW_90