ConfigHWCompass: surface MAG_CAL_FAILED_OFFSETS / FAILED_DIAG_SCALING / FAILED_RESIDUALS_HIGH failure codes

[christianpetri]

Summary

Companion GCS change for ArduPilot/ardupilot#32757, which extends CompassCalibrator::Status with specific failure reasons reported via MAG_CAL_REPORT.cal_status when calibration is rejected.

Named enum members are present in Mavlink.cs following the merge of mavlink/mavlink#2478 via ArduPilot/mavlink#506, and applied to Mission Planner's vendored copy in #3750.

Wire value	Enum name	Meaning
5	MAG_CAL_FAILED	Generic failure (old firmware, no detail)
6	MAG_CAL_FAILED_ORIENTATION	Vehicle orientation outside required tolerance
7	MAG_CAL_FAILED_RADIUS	Fitted sphere radius unrealistically small or large
8	MAG_CAL_FAILED_OFFSETS	Offset component >= COMPASS_OFFS_MAX
9	MAG_CAL_FAILED_DIAG_SCALING	Diagonal or off-diagonal scaling out of range
10	MAG_CAL_FAILED_RESIDUALS_HIGH	RMS residual exceeds tolerance

Previously codes 6–10 fell through silently, leaving the calibration dialog stuck in a running state with no feedback to the user.

Changes

GCSViews/ConfigurationView/ConfigHWCompass.cs — legacy dialog (shown when COMPASS_PRIO1_ID is absent):

• Uses calStatus > MAG_CAL_SUCCESS as the failure guard — catches all current and future failure codes by design
• Tracks the specific failure status per compass ID as a sticky footer that persists across firmware auto-retries
• Resets progress bar to 0 on retry so the climbing bar is visually fresh
• Shows a partial-save banner when some compasses have autosaved while others are still failing/retrying
• Fixes the all-success completion gate (was compasscount == completecount, now uses autosaved count vs expected count)

GCSViews/ConfigurationView/ConfigHWCompass2.cs — new compass priority dialog (shown when COMPASS_PRIO1_ID is present):

• StatusText() returns upstream [Description] text directly from the enum attribute with no local string mapping, so new status codes are picked up automatically. MAG_CAL_SUCCESS (4) and MAG_CAL_FAILED (5) both have empty upstream descriptions; the fallback returns the raw enum name, staying forward-compatible if upstream adds descriptions later.
• StatusDetail() appends actionable numeric values per failure code:
  • Success: saved offsets (x/y/z) + fitness
  • FAILED_OFFSETS: offsets + COMPASS_OFFS_MAX limit
  • FAILED_RESIDUALS_HIGH: fitness value
  • FAILED_ORIENTATION: orientation confidence + hardcoded firmware minimum (0.40)
  • All other codes: no extra detail
• All numeric values use fixed decimal format (F0/F1/F2) — no unbounded float strings
• Retry attempt counter shown on the progress row when attempt >= 2
• Partial-save guidance shown when some compasses autosaved while others are still retrying
• Reboot button changes to "Reboot Now ⚠" with tooltip when autosave has occurred; flag only clears when reboot succeeds
• On page navigation away from an active calibration, sends DO_CANCEL_MAG_CAL and prompts for reboot if changes were saved

GCSViews/InitialSetup.cs — unchanged from upstream: firmware with COMPASS_PRIO1_ID gets ConfigHWCompass2, others get ConfigHWCompass.

MissionPlannerTests/GCSViews/MagCalStatusTests.cs — new unit tests (see Tests section).

Notes on Mavlink.cs

ExtLibs/Mavlink/Mavlink.cs is not changed in this PR — it is auto-generated from the upstream mavlink XML. The named enum members (FAILED_OFFSETS, FAILED_DIAG_SCALING, FAILED_RESIDUALS_HIGH, FAILED_ORIENTATION, FAILED_RADIUS) land in Mission Planner via #3750, which must merge first.

Tests

MissionPlannerTests/GCSViews/MagCalStatusTests.cs covers:

1. Wire values (6–10) pinned as regression guards — if upstream renumbers a member or Mavlink.cs is regenerated against a diverged XML, these fail loudly
2. Full enum snapshot (0–7) pinned — the > MAG_CAL_SUCCESS partition must remain correct
3. Failure guard — all codes 5–10 are > MAG_CAL_SUCCESS; running/waiting/success states are not
4. Named ToString() — locks that MAG_CAL_FAILED and MAG_CAL_FAILED_RADIUS names are stable (used as fallback display text)
5. Upstream [Description] content — each specific failure code (6–10) carries a non-empty description containing its key diagnostic term ("orientation", "radius", "offset", "scaling", "fitness"); if upstream ever removes a description, the UI fallback is the raw enum name and the test fails loudly

All 12 tests pass (verified locally with dotnet vstest).

Testing this PR

To verify the legacy UI (ConfigHWCompass) with a firmware that has COMPASS_PRIO1_ID, temporarily show both pages side by side by replacing the gated block in GCSViews/InitialSetup.cs:

// TEMPORARY — revert before merging
AddBackstageViewPage(typeof(ConfigHWCompass2), rm.GetString("backstageViewPagecompass.Text") + " (New)",
        isConnected && gotAllParams, mand);
AddBackstageViewPage(typeof(ConfigHWCompass), rm.GetString("backstageViewPagecompass.Text") + " (Legacy)",
        isConnected && gotAllParams, mand);

Depends on

• Mavlink: update MAG_CAL_STATUS failure enums MissionPlanner#3750 — open / must merge first
• AP_Compass: report specific failure reason when fit rejected ardupilot#32757 — merged
• common: rename/add MAG_CAL_STATUS failure enums to FAILED_* + RESIDUALS_HIGH mavlink/mavlink#2478 — merged
• common: rename/add MAG_CAL_STATUS failure enums to FAILED_* + RESIDUALS_HIGH ArduPilot/mavlink#506 — merged