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https://github.com/NawfalMotii79/PLFM_RADAR.git
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Jason
0a49320e31
The magnetometer yaw correction used a hardcoded -0.61 deg literal baked in for one deployment site. Yaw_Sensor was wrong by (site_decl + 0.61) deg at every other site whenever the UM982 dual-antenna heading was unavailable. Backed the value with BKPSRAM (slots 1+2 — slot 0 is the MCU-A7 emergency flag) and exposed set_mag_declination_deg / get_mag_declination_deg. Default returns the legacy -0.61 deg when no override has been written so the original site stays correct out of the box; a host command (or future GPS-derived auto-calibration) writes the new site value once and it persists across every reset path until main-power removal. Hardened with a +/-30 deg range clamp on both write AND read paths — real magnetic declinations are roughly +/-25 deg worldwide, so a wider value indicates a calibration error or BKPSRAM corruption (VBAT brown-out, bit flip) rather than a legitimate site. Defensive read-side clamp prevents a corrupted slot from propagating a wild heading offset. Replaced the single use site at the magnetometer yaw computation with the getter; legacy global Mag_Declination retained and kept in sync by the setter for any external linkage. Added test_mcu_a2_mag_declination (10 cases): default, set/get, persistence across reset, power-cycle clear, write-side clamp both directions, plausible-site passthrough, defensive read-side clamp on corruption, wrong-magic fallback, pre-fix bearing-error regression. MCU regression now 81/81.