delete MAGIOCSELFTEST

src/drivers/drv_mag.h

@@ -93,9 +93,6 @@ struct mag_calibration_s {
 /** excite strap */
 #define MAGIOCEXSTRAP		_MAGIOC(9)
 
-/** perform self test and report status */
-#define MAGIOCSELFTEST		_MAGIOC(10)
-
 /** determine if mag is external or onboard */
 #define MAGIOCGEXTERNAL		_MAGIOC(11)
 

src/drivers/imu/adis16448/adis16448.cpp

@@ -1266,9 +1266,6 @@ ADIS16448::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
 	case MAGIOCGRANGE:
 		return (unsigned long)(_mag_range_mgauss);
 
-	case MAGIOCSELFTEST:
-		return OK;
-
 	case MAGIOCTYPE:
 		return (ADIS16448_Product);
 

src/drivers/imu/fxos8701cq/fxos8701cq.cpp

@@ -313,13 +313,6 @@ private:
 	 */
 	int			accel_self_test();
 
-	/**
-	 * Mag self test
-	 *
-	 * @return 0 on success, 1 on failure
-	 */
-	int			mag_self_test();
-
 	/**
 	 * Read a register from the FXOS8701C
 	 *
@@ -998,9 +991,6 @@ FXOS8701CQ::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
 	case MAGIOCGRANGE:
 		return _mag_range_ga;
 
-	case MAGIOCSELFTEST:
-		return mag_self_test();
-
 	case MAGIOCGEXTERNAL:
 		/* Even if this sensor is on the "external" SPI bus
 		 * it is still fixed to the autopilot assembly,
@@ -1033,32 +1023,6 @@ FXOS8701CQ::accel_self_test()
 	return 0;
 }
 
-int
-FXOS8701CQ::mag_self_test()
-{
-	if (_mag_read == 0) {
-		return 1;
-	}
-
-	/**
-	 * inspect mag offsets
-	 * don't check mag scale because it seems this is calibrated on chip
-	 */
-	if (fabsf(_mag_scale.x_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_mag_scale.y_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_mag_scale.z_offset) < 0.000001f) {
-		return 1;
-	}
-
-	return 0;
-}
-
 uint8_t
 FXOS8701CQ::read_reg(unsigned reg)
 {

src/drivers/imu/lsm303d/lsm303d.cpp

@@ -378,13 +378,6 @@ private:
 	 */
 	int			accel_self_test();
 
-	/**
-	 * Mag self test
-	 *
-	 * @return 0 on success, 1 on failure
-	 */
-	int			mag_self_test();
-
 	/**
 	 * Read a register from the LSM303D
 	 *
@@ -1066,9 +1059,6 @@ LSM303D::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
 	case MAGIOCGRANGE:
 		return _mag_range_ga;
 
-	case MAGIOCSELFTEST:
-		return mag_self_test();
-
 	case MAGIOCGEXTERNAL:
 		/* Even if this sensor is on the "external" SPI bus
 		 * it is still fixed to the autopilot assembly,
@@ -1092,32 +1082,6 @@ LSM303D::accel_self_test()
 	return 0;
 }
 
-int
-LSM303D::mag_self_test()
-{
-	if (_mag_read == 0) {
-		return 1;
-	}
-
-	/**
-	 * inspect mag offsets
-	 * don't check mag scale because it seems this is calibrated on chip
-	 */
-	if (fabsf(_mag_scale.x_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_mag_scale.y_offset) < 0.000001f) {
-		return 1;
-	}
-
-	if (fabsf(_mag_scale.z_offset) < 0.000001f) {
-		return 1;
-	}
-
-	return 0;
-}
-
 uint8_t
 LSM303D::read_reg(unsigned reg)
 {

src/drivers/imu/mpu9250/mag.cpp

@@ -384,9 +384,6 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case MAGIOCGRANGE:
 		return 48; // fixed full scale measurement range of +/- 4800 uT == 48 Gauss
 
-	case MAGIOCSELFTEST:
-		return self_test();
-
 #ifdef MAGIOCSHWLOWPASS
 
 	case MAGIOCSHWLOWPASS:
@@ -404,12 +401,6 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
 	}
 }
 
-int
-MPU9250_mag::self_test(void)
-{
-	return 0;
-}
-
 void
 MPU9250_mag::set_passthrough(uint8_t reg, uint8_t size, uint8_t *out)
 {

src/drivers/magnetometer/bmm150/bmm150.cpp

@@ -810,9 +810,6 @@ BMM150::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case MAGIOCEXSTRAP:
 		return OK;
 
-	case MAGIOCSELFTEST:
-		return OK;
-
 	case MAGIOCSSAMPLERATE:
 		return ioctl(filp, SENSORIOCSPOLLRATE, arg);
 

src/drivers/magnetometer/hmc5883/hmc5883.cpp

@@ -310,13 +310,6 @@ private:
 	 */
 	float			meas_to_float(uint8_t in[2]);
 
-	/**
-	 * Check the current calibration and update device status
-	 *
-	 * @return 0 if calibration is ok, 1 else
-	 */
-	int 			check_calibration();
-
 	/**
 	* Check the current scale calibration
 	*
@@ -724,8 +717,6 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case MAGIOCSSCALE:
 		/* set new scale factors */
 		memcpy(&_scale, (struct mag_calibration_s *)arg, sizeof(_scale));
-		/* check calibration, but not actually return an error */
-		(void)check_calibration();
 		return 0;
 
 	case MAGIOCGSCALE:
@@ -739,9 +730,6 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case MAGIOCEXSTRAP:
 		return set_excitement(arg);
 
-	case MAGIOCSELFTEST:
-		return check_calibration();
-
 	case MAGIOCGEXTERNAL:
 		DEVICE_DEBUG("MAGIOCGEXTERNAL in main driver");
 		return _interface->ioctl(cmd, dummy);
@@ -1271,19 +1259,6 @@ int HMC5883::check_offset()
 	return !offset_valid;
 }
 
-int HMC5883::check_calibration()
-{
-	bool offset_valid = (check_offset() == OK);
-	bool scale_valid  = (check_scale() == OK);
-
-	if (_calibrated != (offset_valid && scale_valid)) {
-		_calibrated = (offset_valid && scale_valid);
-	}
-
-	/* return 0 if calibrated, 1 else */
-	return (!_calibrated);
-}
-
 int HMC5883::set_excitement(unsigned enable)
 {
 	int ret;

src/drivers/magnetometer/ist8310/ist8310.cpp

@@ -357,13 +357,6 @@ private:
 	 */
 	float       meas_to_float(uint8_t in[2]);
 
-	/**
-	 * Check the current calibration and update device status
-	 *
-	 * @return 0 if calibration is ok, 1 else
-	 */
-	int         check_calibration();
-
 	/**
 	* Check the current scale calibration
 	*
@@ -707,8 +700,6 @@ IST8310::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case MAGIOCSSCALE:
 		/* set new scale factors */
 		memcpy(&_scale, (struct mag_calibration_s *)arg, sizeof(_scale));
-		/* check calibration, but not actually return an error */
-		(void)check_calibration();
 		return 0;
 
 	case MAGIOCGSCALE:
@@ -719,11 +710,7 @@ IST8310::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case MAGIOCCALIBRATE:
 		return calibrate(filp, arg);
 
-	case MAGIOCSELFTEST:
-		return check_calibration();
-
 	case MAGIOCGEXTERNAL:
-		DEVICE_DEBUG("MAGIOCGEXTERNAL in main driver");
 		return external();
 
 	default:
@@ -1148,25 +1135,6 @@ int IST8310::check_offset()
 	return !offset_valid;
 }
 
-int IST8310::check_calibration()
-{
-	bool offset_valid = (check_offset() == OK);
-	bool scale_valid  = (check_scale() == OK);
-
-	if (_calibrated != (offset_valid && scale_valid)) {
-
-		if (!scale_valid || !offset_valid) {
-			PX4_WARN("mag cal status changed %s%s", (scale_valid) ? "" : "scale invalid ",
-				 (offset_valid) ? "" : "offset invalid");
-		}
-
-		_calibrated = (offset_valid && scale_valid);
-	}
-
-	/* return 0 if calibrated, 1 else */
-	return (!_calibrated);
-}
-
 int
 IST8310::set_selftest(unsigned enable)
 {

src/drivers/magnetometer/lis3mdl/lis3mdl.cpp

@@ -286,22 +286,6 @@ out:
 	return ret;
 }
 
-int
-LIS3MDL::check_calibration()
-{
-	bool offset_valid = (check_offset() == OK);
-	bool scale_valid  = (check_scale() == OK);
-
-	if (_calibrated != (offset_valid && scale_valid)) {
-		PX4_WARN("mag cal status changed %s%s", (scale_valid) ? "" : "scale invalid ",
-			 (offset_valid) ? "" : "offset invalid");
-		_calibrated = (offset_valid && scale_valid);
-	}
-
-	/* return 0 if calibrated, 1 else */
-	return !_calibrated;
-}
-
 int
 LIS3MDL::check_offset()
 {
@@ -613,8 +597,6 @@ LIS3MDL::ioctl(struct file *file_pointer, int cmd, unsigned long arg)
 	case MAGIOCSSCALE:
 		/* set new scale factors */
 		memcpy(&_scale, (struct mag_calibration_s *)arg, sizeof(_scale));
-		/* check calibration, but not actually return an error */
-		(void)check_calibration();
 		return 0;
 
 	case MAGIOCGSCALE:
@@ -622,17 +604,12 @@ LIS3MDL::ioctl(struct file *file_pointer, int cmd, unsigned long arg)
 		memcpy((struct mag_calibration_s *)arg, &_scale, sizeof(_scale));
 		return 0;
 
-
 	case MAGIOCCALIBRATE:
 		return calibrate(file_pointer, arg);
 
 	case MAGIOCEXSTRAP:
 		return set_excitement(arg);
 
-	case MAGIOCSELFTEST:
-		return check_calibration();
-
-
 	case MAGIOCGEXTERNAL:
 		DEVICE_DEBUG("MAGIOCGEXTERNAL in main driver");
 		return _interface->ioctl(cmd, dummy);

src/drivers/magnetometer/lis3mdl/lis3mdl.h

@@ -199,13 +199,6 @@ private:
 	 */
 	int collect();
 
-	/**
-	 * Check the current calibration and update device status
-	 *
-	 * @return 0 if calibration is ok, 1 else
-	 */
-	int check_calibration();
-
 	/**
 	* Check the current scale calibration
 	*

src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp

@@ -331,7 +331,6 @@ LSM303AGR::ioctl(struct file *filp, int cmd, unsigned long arg)
 		return 0;
 
 	case MAGIOCGEXTERNAL:
-		DEVICE_DEBUG("MAGIOCGEXTERNAL in main driver");
 		return external();
 
 	default:

src/modules/simulator/accelsim/accelsim.cpp

@@ -717,9 +717,6 @@ ACCELSIM::mag_ioctl(unsigned long cmd, unsigned long arg)
 		 */
 		return 0;
 
-	case MAGIOCSELFTEST:
-		return OK;
-
 	default:
 		/* give it to the superclass */
 		return VirtDevObj::devIOCTL(cmd, arg);

src/modules/uavcan/sensors/mag.cpp

@@ -114,10 +114,6 @@ int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long ar
 			return 0;
 		}
 
-	case MAGIOCSELFTEST: {
-			return 0;           // Nothing to do
-		}
-
 	case MAGIOCGEXTERNAL: {
 			return 1;           // declare it external rise it's priority and to allow for correct orientation compensation
 		}

src/systemcmds/config/config.c

@@ -296,27 +296,6 @@ do_mag(int argc, char *argv[])
 				return 1;
 			}
 
-		} else if (argc == 2 && !strcmp(argv[0], "check")) {
-			ret = ioctl(fd, MAGIOCSELFTEST, 0);
-
-			if (ret) {
-				PX4_WARN("mag self test FAILED! Check calibration:");
-				struct mag_calibration_s scale;
-				ret = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&scale);
-
-				if (ret) {
-					PX4_ERR("failed getting mag scale");
-					return 1;
-				}
-
-				PX4_INFO("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset,
-					 (double)scale.z_offset);
-				PX4_INFO("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale);
-
-			} else {
-				PX4_INFO("mag calibration and self test OK");
-			}
-
 		} else {
 			print_usage();
 			return 1;