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fix(simulation): clamp simulated FIFO accel/gyro samples to int16 range #27864

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fix(simulation): clamp simulated FIFO accel/gyro samples to int16 range #27864

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16 changes: 10 additions & 6 deletions src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -224,9 +224,11 @@ void SimulatorMavlink::update_sensors(const hrt_abstime &time, const mavlink_hil
_last_accel_fifo.samples = 1;
_last_accel_fifo.dt = time - _last_accel_fifo.timestamp_sample;
_last_accel_fifo.timestamp_sample = time;
_last_accel_fifo.x[0] = sensors.xacc / ACCEL_FIFO_SCALE;
_last_accel_fifo.y[0] = sensors.yacc / ACCEL_FIFO_SCALE;
_last_accel_fifo.z[0] = sensors.zacc / ACCEL_FIFO_SCALE;
// constrain to the FIFO int16 range: values beyond full scale saturate
// (and get reported as clipping) instead of wrapping around
_last_accel_fifo.x[0] = math::constrain(sensors.xacc / ACCEL_FIFO_SCALE, (float)INT16_MIN, (float)INT16_MAX);
_last_accel_fifo.y[0] = math::constrain(sensors.yacc / ACCEL_FIFO_SCALE, (float)INT16_MIN, (float)INT16_MAX);
_last_accel_fifo.z[0] = math::constrain(sensors.zacc / ACCEL_FIFO_SCALE, (float)INT16_MIN, (float)INT16_MAX);

_px4_accel[sensors.id].updateFIFO(_last_accel_fifo);
}
Expand Down Expand Up @@ -267,9 +269,11 @@ void SimulatorMavlink::update_sensors(const hrt_abstime &time, const mavlink_hil
_last_gyro_fifo.samples = 1;
_last_gyro_fifo.dt = time - _last_gyro_fifo.timestamp_sample;
_last_gyro_fifo.timestamp_sample = time;
_last_gyro_fifo.x[0] = sensors.xgyro / GYRO_FIFO_SCALE;
_last_gyro_fifo.y[0] = sensors.ygyro / GYRO_FIFO_SCALE;
_last_gyro_fifo.z[0] = sensors.zgyro / GYRO_FIFO_SCALE;
// constrain to the FIFO int16 range: rates beyond full scale saturate
// (and get reported as clipping) instead of wrapping around
_last_gyro_fifo.x[0] = math::constrain(sensors.xgyro / GYRO_FIFO_SCALE, (float)INT16_MIN, (float)INT16_MAX);
_last_gyro_fifo.y[0] = math::constrain(sensors.ygyro / GYRO_FIFO_SCALE, (float)INT16_MIN, (float)INT16_MAX);
_last_gyro_fifo.z[0] = math::constrain(sensors.zgyro / GYRO_FIFO_SCALE, (float)INT16_MIN, (float)INT16_MAX);

_px4_gyro[sensors.id].updateFIFO(_last_gyro_fifo);
}
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