Summary

Improves parsing and publishing of MAG_CAL_REPORT (MAVLink message ID 192) in the mag_calibration plugin.
This update aligns the MagnetometerReporter.msg structure with the official MAVLink documentation and ensures complete and accurate calibration report transmission via ROS 2 topic.

Details

• Updated MagnetometerReporter.msg to include all fields defined in MAG_CAL_REPORT, such as:
  • fitness (calibration quality metric)
  • Offset: ofs_x, ofs_y, ofs_z
  • Diagonal: diag_x, diag_y, diag_z
  • Off-diagonal: offdiag_x, offdiag_y, offdiag_z
  • orientation_confidence, old_orientation, new_orientation
  • scale_factor, report, autosaved, cal_mask, etc.
• Modified mag_calibration_status.cpp to:
  • Assign each field correctly from incoming MAVLink MAG_CAL_REPORT message
  • Construct full MagnetometerReporter ROS 2 message with all available data
• This ensures the topic /mavros/mag_calibration/report contains accurate and complete information after compass calibration procedures.

Testing

• ✅ Tested with ArduPilot SITL and real flight controller (Pixhawk) with ArduPilot firmware (Copter 4.4).
• ✅ Calibration command sent using ros2 service call /mavros/cmd/command with:

  ros2 service call /mavros/cmd/command mavros_msgs/srv/CommandLong "{
    command: 42424,
    confirmation: 1,
    param3: 1
  }"

✅ Observed output on ROS 2 topic:

ros2 topic echo /mavros/mag_calibration/report

📉 Before Fix (partial/incomplete output):

header:
  stamp:
    sec: 1742818332
    nanosec: 990819562
  frame_id: '0'
report: 4
confidence: 1.1955742835998535

📈 After Fix (fully populated according to MAVLink spec)

header:
  stamp:
    sec: 1745584691
    nanosec: 236922544
  frame_id: '0'
report: 4
confidence: 7.774540424346924
compass_id: 0
cal_mask: 1
cal_status: 4
autosaved: 1
fitness: 31.877994537353516
ofs_x: -43.93415451049805
ofs_y: -17.019399642944336
ofs_z: -22.630168914794922
diag_x: 1.0128146409988403
diag_y: 1.1006752252578735
diag_z: 0.9747106432914734
offdiag_x: 0.0010097220074385405
offdiag_y: -0.06996173411607742
offdiag_z: 0.056884389370679855
orientation_confidence: 7.774540424346924
old_orientation: 0
new_orientation: 0
scale_factor: 0.0

Motivation

Without this fix, the /mavros/mag_calibration/report topic published incomplete messages lacking critical calibration feedback fields like fitness, offsets, or orientation metrics.
This caused limited visibility for developers and GCS tools using MAVROS in ROS 2 setups.

With this PR, the message now reflects the full MAVLink MAG_CAL_REPORT, improving integration and diagnostics.