Mag Calibration: require enabled / available mag

[haumarco]

Solved Problem & Solution

Previously, it was possible to trigger magnetometer calibration even when all available magnetometers were disabled via their priority parameter. This created a confusing situation where:

• SYS_HAS_MAG was set to 1 (indicating the system should have a magnetometer)
• All magnetometers had CAL_MAGx_PRIO set to 0 (disabled)
• The system would complain about missing magnetometers
• Calibration could still be initiated

This change adds a validation check before calibration starts, counting only magnetometers with priority != 0. If no enabled magnetometers are found, the calibration gets rejected.

To fix this scenario, users must either:

• Set at least one magnetometer's priority to a non-zero value, or
• Connect an additional magnetometer with priority != 0 (also uninitialized)

Test Coverage

Tested on hardware with internal and external sensor.

[github-actions]

🔎 FLASH Analysis

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Updated: 2025-10-09T13:33:08

[bresch]

Looks good!