fix(steami_config): Address PR review on magnetometer calibration.

Author: nedseb

lib/steami_config/steami_config/device.py

@@ -177,23 +177,25 @@ def get_magnetometer_calibration(self):
         if cm is None:
             return None
         return {
-            "hard_iron_x": cm["hx"],
-            "hard_iron_y": cm["hy"],
-            "hard_iron_z": cm["hz"],
-            "soft_iron_x": cm["sx"],
-            "soft_iron_y": cm["sy"],
-            "soft_iron_z": cm["sz"],
+            "hard_iron_x": cm.get("hx", 0.0),
+            "hard_iron_y": cm.get("hy", 0.0),
+            "hard_iron_z": cm.get("hz", 0.0),
+            "soft_iron_x": cm.get("sx", 1.0),
+            "soft_iron_y": cm.get("sy", 1.0),
+            "soft_iron_z": cm.get("sz", 1.0),
         }
 
     def apply_magnetometer_calibration(self, lis2mdl_instance):
         """Apply stored magnetometer calibration to a LIS2MDL instance.
 
         The instance must have x_off/y_off/z_off and x_scale/y_scale/z_scale
-        attributes.
+        attributes.  Only applies to LIS2MDL instances.
 
         Args:
             lis2mdl_instance: a LIS2MDL driver instance.
         """
+        if type(lis2mdl_instance).__name__.lower() != "lis2mdl":
+            return
         cal = self.get_magnetometer_calibration()
         if cal is None:
             return

tests/scenarios/steami_config.yaml

@@ -199,7 +199,10 @@ tests:
 
       mag = LIS2MDL()
       dev.apply_magnetometer_calibration(mag)
-      result = mag.x_off == 0 and mag.x_scale == 1
+      result = (
+          mag.x_off == 0 and mag.y_off == 0 and mag.z_off == 0
+          and mag.x_scale == 1 and mag.y_scale == 1 and mag.z_scale == 1
+      )
     expect_true: true
     mode: [mock]
 
@@ -214,7 +217,14 @@ tests:
       dev2 = SteamiConfig(dev._flash)
       dev2.load()
       cal = dev2.get_magnetometer_calibration()
-      result = cal["hard_iron_x"] == 5.5 and cal["soft_iron_x"] == 1.0
+      result = (
+          cal["hard_iron_x"] == 5.5
+          and cal["hard_iron_y"] == -2.2
+          and cal["hard_iron_z"] == 0.3
+          and cal["soft_iron_x"] == 1.0
+          and cal["soft_iron_y"] == 1.0
+          and cal["soft_iron_z"] == 1.0
+      )
     expect_true: true
     mode: [mock]