From 2037b654a6b0cd73b4387abe53fe97b5936a350f Mon Sep 17 00:00:00 2001
From: Niklas Jensen <niklaspj2004@gmail.com>
Date: Sat, 29 Nov 2025 20:58:06 +0100
Subject: [PATCH] Fix IMU ang MAG, added MAG chart to svelte

---
 app/src/routes/peripherals/imu/imu.svelte | 4 ++++
 esp32/include/peripherals/imu.h           | 1 +
 esp32/include/peripherals/magnetometer.h  | 1 +
 3 files changed, 6 insertions(+)

diff --git a/app/src/routes/peripherals/imu/imu.svelte b/app/src/routes/peripherals/imu/imu.svelte
index e0fdae8..0e759b9 100644
--- a/app/src/routes/peripherals/imu/imu.svelte
+++ b/app/src/routes/peripherals/imu/imu.svelte
@@ -245,6 +245,10 @@
             angleChart.update('none')
         }
 
+        if ($features.mag) {
+            updateChartData(magnetometerChart, $imu.heading)
+        }
+
         if ($features.bmp && tempChart && altitudeChart) {
             updateChartData(
                 tempChart,
diff --git a/esp32/include/peripherals/imu.h b/esp32/include/peripherals/imu.h
index d43746d..2036e38 100644
--- a/esp32/include/peripherals/imu.h
+++ b/esp32/include/peripherals/imu.h
@@ -60,6 +60,7 @@ class IMU : public SensorBase<IMUAnglesMsg> {
     _imu->setFullScale((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS);
     if (_imu->status != ICM_20948_Stat_Ok){ return false; }
     // TODO: Setup low pass filter config
+    _msg.success = true;
 #endif
         return _msg.success;
     }
diff --git a/esp32/include/peripherals/magnetometer.h b/esp32/include/peripherals/magnetometer.h
index def5589..9e8fbac 100644
--- a/esp32/include/peripherals/magnetometer.h
+++ b/esp32/include/peripherals/magnetometer.h
@@ -26,6 +26,7 @@ class Magnetometer : public SensorBase<MagnetometerMsg> {
             
             _mag->startupMagnetometer();
             if (_mag->status != ICM_20948_Stat_Ok){ return false; }
+            _msg.success = true;
         #elif FT_ENABLED(USE_HMC5883)
             _msg.success = _mag.begin();
         #endif