[ahrs] separate ABI IDs for binding mag message

This makes it easy to use a different mag than the one on the IMU, or to disable the mag callback alltogether.
However the mag still has to have the same alignment as the IMU (still same BODY_TO_IMU used).

Towards solving paparazzi#197

sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c

@@ -86,11 +86,19 @@ static void send_filter_status(struct transport_tx *trans, struct link_device *d
 
 
 /** ABI binding for IMU data.
- * Used for gyro, accel and mag ABI messages.
+ * Used for gyro and accel ABI messages.
  */
 #ifndef AHRS_FC_IMU_ID
 #define AHRS_FC_IMU_ID ABI_BROADCAST
 #endif
+PRINT_CONFIG_VAR(AHRS_FC_IMU_ID)
+/** ABI binding for magnetometer data.
+ * Used for IMU_MAG_INT32 ABI messages.
+ */
+#ifndef AHRS_FC_MAG_ID
+#define AHRS_FC_MAG_ID AHRS_FC_IMU_ID
+#endif
+PRINT_CONFIG_VAR(AHRS_FC_MAG_ID)
 static abi_event gyro_ev;
 static abi_event accel_ev;
 static abi_event mag_ev;
@@ -239,7 +247,7 @@ void ahrs_fc_register(void)
    */
   AbiBindMsgIMU_GYRO_INT32(AHRS_FC_IMU_ID, &gyro_ev, gyro_cb);
   AbiBindMsgIMU_ACCEL_INT32(AHRS_FC_IMU_ID, &accel_ev, accel_cb);
-  AbiBindMsgIMU_MAG_INT32(AHRS_FC_IMU_ID, &mag_ev, mag_cb);
+  AbiBindMsgIMU_MAG_INT32(AHRS_FC_MAG_ID, &mag_ev, mag_cb);
   AbiBindMsgIMU_LOWPASSED(ABI_BROADCAST, &aligner_ev, aligner_cb);
   AbiBindMsgBODY_TO_IMU_QUAT(ABI_BROADCAST, &body_to_imu_ev, body_to_imu_cb);
   AbiBindMsgGEO_MAG(ABI_BROADCAST, &geo_mag_ev, geo_mag_cb);

sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c

@@ -62,11 +62,19 @@ static void send_filter_status(struct transport_tx *trans, struct link_device *d
 #endif
 
 /** ABI binding for IMU data.
- * Used for gyro, accel and mag ABI messages.
+ * Used for gyro and accel ABI messages.
  */
 #ifndef AHRS_DCM_IMU_ID
 #define AHRS_DCM_IMU_ID ABI_BROADCAST
 #endif
+PRINT_CONFIG_VAR(AHRS_DCM_IMU_ID)
+/** ABI binding for magnetometer data.
+ * Used for IMU_MAG_INT32 ABI messages.
+ */
+#ifndef AHRS_DCM_MAG_ID
+#define AHRS_DCM_MAG_ID AHRS_DCM_IMU_ID
+#endif
+PRINT_CONFIG_VAR(AHRS_DCM_MAG_ID)
 static abi_event gyro_ev;
 static abi_event accel_ev;
 static abi_event mag_ev;
@@ -180,7 +188,7 @@ void ahrs_dcm_register(void)
    */
   AbiBindMsgIMU_GYRO_INT32(AHRS_DCM_IMU_ID, &gyro_ev, gyro_cb);
   AbiBindMsgIMU_ACCEL_INT32(AHRS_DCM_IMU_ID, &accel_ev, accel_cb);
-  AbiBindMsgIMU_MAG_INT32(AHRS_DCM_IMU_ID, &mag_ev, mag_cb);
+  AbiBindMsgIMU_MAG_INT32(AHRS_DCM_MAG_ID, &mag_ev, mag_cb);
   AbiBindMsgIMU_LOWPASSED(ABI_BROADCAST, &aligner_ev, aligner_cb);
   AbiBindMsgBODY_TO_IMU_QUAT(ABI_BROADCAST, &body_to_imu_ev, body_to_imu_cb);
   AbiBindMsgGPS(ABI_BROADCAST, &gps_ev, gps_cb);

sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c

@@ -100,7 +100,7 @@ PRINT_CONFIG_VAR(AHRS_FINV_IMU_ID)
 
 /** magnetometer */
 #ifndef AHRS_FINV_MAG_ID
-#define AHRS_FINV_MAG_ID ABI_BROADCAST
+#define AHRS_FINV_MAG_ID AHRS_FINV_IMU_ID
 #endif
 PRINT_CONFIG_VAR(AHRS_FINV_MAG_ID)
 

sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c

@@ -70,11 +70,19 @@ static void send_filter_status(struct transport_tx *trans, struct link_device *d
 
 
 /** ABI binding for IMU data.
- * Used for gyro, accel and mag ABI messages.
+ * Used for gyro, accel ABI messages.
  */
 #ifndef AHRS_MLKF_IMU_ID
 #define AHRS_MLKF_IMU_ID ABI_BROADCAST
 #endif
+PRINT_CONFIG_VAR(AHRS_MLKF_IMU_ID)
+/** ABI binding for magnetometer data.
+ * Used for IMU_MAG_INT32 ABI messages.
+ */
+#ifndef AHRS_MLKF_MAG_ID
+#define AHRS_MLKF_MAG_ID AHRS_MLKF_IMU_ID
+#endif
+PRINT_CONFIG_VAR(AHRS_MLKF_MAG_ID)
 static abi_event gyro_ev;
 static abi_event accel_ev;
 static abi_event mag_ev;
@@ -193,7 +201,7 @@ void ahrs_mlkf_register(void)
    */
   AbiBindMsgIMU_GYRO_INT32(AHRS_MLKF_IMU_ID, &gyro_ev, gyro_cb);
   AbiBindMsgIMU_ACCEL_INT32(AHRS_MLKF_IMU_ID, &accel_ev, accel_cb);
-  AbiBindMsgIMU_MAG_INT32(AHRS_MLKF_IMU_ID, &mag_ev, mag_cb);
+  AbiBindMsgIMU_MAG_INT32(AHRS_MLKF_MAG_ID, &mag_ev, mag_cb);
   AbiBindMsgIMU_LOWPASSED(ABI_BROADCAST, &aligner_ev, aligner_cb);
   AbiBindMsgBODY_TO_IMU_QUAT(ABI_BROADCAST, &body_to_imu_ev, body_to_imu_cb);
   AbiBindMsgGEO_MAG(ABI_BROADCAST, &geo_mag_ev, geo_mag_cb);

sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c

@@ -101,11 +101,19 @@ static void send_filter_status(struct transport_tx *trans, struct link_device *d
 #endif
 
 /** ABI binding for IMU data.
- * Used for gyro, accel and mag ABI messages.
+ * Used for gyro, accel ABI messages.
  */
 #ifndef AHRS_ICE_IMU_ID
 #define AHRS_ICE_IMU_ID ABI_BROADCAST
 #endif
+PRINT_CONFIG_VAR(AHRS_ICE_IMU_ID)
+/** ABI binding for magnetometer data.
+ * Used for IMU_MAG_INT32 ABI messages.
+ */
+#ifndef AHRS_ICE_MAG_ID
+#define AHRS_ICE_MAG_ID AHRS_ICE_IMU_ID
+#endif
+PRINT_CONFIG_VAR(AHRS_ICE_MAG_ID)
 static abi_event gyro_ev;
 static abi_event accel_ev;
 static abi_event mag_ev;
@@ -197,7 +205,7 @@ void ahrs_ice_register(void)
    */
   AbiBindMsgIMU_GYRO_INT32(AHRS_ICE_IMU_ID, &gyro_ev, gyro_cb);
   AbiBindMsgIMU_ACCEL_INT32(AHRS_ICE_IMU_ID, &accel_ev, accel_cb);
-  AbiBindMsgIMU_MAG_INT32(AHRS_ICE_IMU_ID, &mag_ev, mag_cb);
+  AbiBindMsgIMU_MAG_INT32(AHRS_ICE_MAG_ID, &mag_ev, mag_cb);
   AbiBindMsgIMU_LOWPASSED(ABI_BROADCAST, &aligner_ev, aligner_cb);
   AbiBindMsgBODY_TO_IMU_QUAT(ABI_BROADCAST, &body_to_imu_ev, body_to_imu_cb);
 

sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c

@@ -109,11 +109,19 @@ static void send_filter_status(struct transport_tx *trans, struct link_device *d
 
 
 /** ABI binding for IMU data.
- * Used for gyro, accel and mag ABI messages.
+ * Used for gyro, accel ABI messages.
  */
 #ifndef AHRS_ICQ_IMU_ID
 #define AHRS_ICQ_IMU_ID ABI_BROADCAST
 #endif
+PRINT_CONFIG_VAR(AHRS_ICQ_IMU_ID)
+/** ABI binding for magnetometer data.
+ * Used for IMU_MAG_INT32 ABI messages.
+ */
+#ifndef AHRS_ICQ_MAG_ID
+#define AHRS_ICQ_MAG_ID AHRS_ICQ_IMU_ID
+#endif
+PRINT_CONFIG_VAR(AHRS_ICQ_MAG_ID)
 static abi_event gyro_ev;
 static abi_event accel_ev;
 static abi_event mag_ev;
@@ -265,7 +273,7 @@ void ahrs_icq_register(void)
    */
   AbiBindMsgIMU_GYRO_INT32(AHRS_ICQ_IMU_ID, &gyro_ev, gyro_cb);
   AbiBindMsgIMU_ACCEL_INT32(AHRS_ICQ_IMU_ID, &accel_ev, accel_cb);
-  AbiBindMsgIMU_MAG_INT32(AHRS_ICQ_IMU_ID, &mag_ev, mag_cb);
+  AbiBindMsgIMU_MAG_INT32(AHRS_ICQ_MAG_ID, &mag_ev, mag_cb);
   AbiBindMsgIMU_LOWPASSED(ABI_BROADCAST, &aligner_ev, aligner_cb);
   AbiBindMsgBODY_TO_IMU_QUAT(ABI_BROADCAST, &body_to_imu_ev, body_to_imu_cb);
   AbiBindMsgGEO_MAG(ABI_BROADCAST, &geo_mag_ev, geo_mag_cb);