fix ekf2 saved mag bias comments (mGauss -> Gauss)

src/lib/parameters/px4params/srcparser.py

@@ -352,7 +352,7 @@ class SourceParser(object):
                                 'rad', '%/rad', 'rad/s', 'rad/s^2', '%/rad/s',  'rad s^2/m','rad s/m',
                                 'bit/s', 'B/s',
                                 'deg', 'deg*1e7', 'deg/s',
-                                'celcius', 'gauss', 'gauss/s', 'mgauss', 'mgauss^2',
+                                'celcius', 'gauss', 'gauss/s', 'gauss^2',
                                 'hPa', 'kg', 'kg/m^2', 'kg m^2',
                                 'mm', 'm', 'm/s', 'm^2', 'm/s^2', 'm/s^3', 'm/s^2/sqrt(Hz)', 'm/s/rad',
                                 'Ohm', 'V',

src/modules/ekf2/EKF2.hpp

@@ -149,9 +149,9 @@ private:
 	hrt_abstime _last_magcal_us = 0;	///< last time the EKF was operating a mode that estimates magnetomer biases (uSec)
 	hrt_abstime _total_cal_time_us = 0;	///< accumulated calibration time since the last save
 
-	float _last_valid_mag_cal[3] = {};	///< last valid XYZ magnetometer bias estimates (mGauss)
+	float _last_valid_mag_cal[3] = {};	///< last valid XYZ magnetometer bias estimates (Gauss)
 	bool _valid_cal_available[3] = {};	///< true when an unsaved valid calibration for the XYZ magnetometer bias is available
-	float _last_valid_variance[3] = {};	///< variances for the last valid magnetometer XYZ bias estimates (mGauss**2)
+	float _last_valid_variance[3] = {};	///< variances for the last valid magnetometer XYZ bias estimates (Gauss**2)
 
 	// Used to control saving of mag declination to be used on next startup
 	bool _mag_decl_saved = false;	///< true when the magnetic declination has been saved
@@ -409,13 +409,13 @@ private:
 		_param_ekf2_angerr_init,	///< 1-sigma tilt error after initial alignment using gravity vector (rad)
 
 		// EKF saved XYZ magnetometer bias values
-		(ParamFloat<px4::params::EKF2_MAGBIAS_X>) _param_ekf2_magbias_x,		///< X magnetometer bias (mGauss)
-		(ParamFloat<px4::params::EKF2_MAGBIAS_Y>) _param_ekf2_magbias_y,		///< Y magnetometer bias (mGauss)
-		(ParamFloat<px4::params::EKF2_MAGBIAS_Z>) _param_ekf2_magbias_z,		///< Z magnetometer bias (mGauss)
+		(ParamFloat<px4::params::EKF2_MAGBIAS_X>) _param_ekf2_magbias_x,		///< X magnetometer bias (Gauss)
+		(ParamFloat<px4::params::EKF2_MAGBIAS_Y>) _param_ekf2_magbias_y,		///< Y magnetometer bias (Gauss)
+		(ParamFloat<px4::params::EKF2_MAGBIAS_Z>) _param_ekf2_magbias_z,		///< Z magnetometer bias (Gauss)
 		(ParamInt<px4::params::EKF2_MAGBIAS_ID>)
 		_param_ekf2_magbias_id,		///< ID of the magnetometer sensor used to learn the bias values
 		(ParamFloat<px4::params::EKF2_MAGB_VREF>)
-		_param_ekf2_magb_vref, ///< Assumed error variance of previously saved magnetometer bias estimates (mGauss**2)
+		_param_ekf2_magb_vref, ///< Assumed error variance of previously saved magnetometer bias estimates (Gauss**2)
 		(ParamFloat<px4::params::EKF2_MAGB_K>)
 		_param_ekf2_magb_k,	///< maximum fraction of the learned magnetometer bias that is saved at each disarm
 

src/modules/ekf2/ekf2_params.c

@@ -1072,7 +1072,7 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_PITCH, 0.0f);
  * @reboot_required true
  * @volatile
  * @category system
- * @unit mgauss
+ * @unit gauss
  * @decimal 3
  */
 PARAM_DEFINE_FLOAT(EKF2_MAGBIAS_X, 0.0f);
@@ -1087,7 +1087,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAGBIAS_X, 0.0f);
  * @reboot_required true
  * @volatile
  * @category system
- * @unit mgauss
+ * @unit gauss
  * @decimal 3
  */
 PARAM_DEFINE_FLOAT(EKF2_MAGBIAS_Y, 0.0f);
@@ -1102,7 +1102,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAGBIAS_Y, 0.0f);
  * @reboot_required true
  * @volatile
  * @category system
- * @unit mgauss
+ * @unit gauss
  * @decimal 3
  */
 PARAM_DEFINE_FLOAT(EKF2_MAGBIAS_Z, 0.0f);
@@ -1122,7 +1122,7 @@ PARAM_DEFINE_INT32(EKF2_MAGBIAS_ID, 0);
  *
  * @group EKF2
  * @reboot_required true
- * @unit mgauss^2
+ * @unit gauss^2
  * @decimal 8
  */
 PARAM_DEFINE_FLOAT(EKF2_MAGB_VREF, 2.5E-7f);