Add magnetometer plugin parameter to publish units as tesla #2336
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🦟 Bug fix
Fixes #2312
Summary
As mentioned in #2312, the magnetic field message is incorrectly using Gauss as the units for the field strength, rather than the SI unit of teslas.
This PR adds a flag,
use_tesla_for_magnetic_field
, to theMagnetometerSystem
to enable this fix as to not break any existing functionality that assumes Gauss. It also adds theConfigure
step to theMagnetometerSystem
.While I was here, I noticed that the integration test doesn't actually update the
MagnetometerSystem
because the SphericalCoorindates are not set. I think this might be an oversight. I did not change that existing test in case it was like that on purpose.Checklist
codecheck
passed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-by
messages.