fix(simulation): clamp simulated FIFO accel/gyro samples to int16#27927
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fix(simulation): clamp simulated FIFO accel/gyro samples to int16#27927Bartok9 wants to merge 1 commit into
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salvage of PX4#27864 (credit @farhangnaderi). Prevents float-to-int16 wrap in SimulatorMavlink FIFO path so high-rate sim no longer inverts gyro/accel. Uses math::constrainFloatToInt16 for stock PX4 style. Fixes PX4#23469. Co-authored-by: Farhang Naderi <farhangnaderi@users.noreply.github.com> AI-assisted; human-reviewed.
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Summary
Salvage of draft CONFLICTING #27864 by @farhangnaderi. Clamp simulated FIFO accel/gyro samples with math::constrainFloatToInt16 so float→int16 saturates instead of wrapping (inverted gyro at high rates).
Motivation
#27864 useful but CONFLICTING after SimulatorMavlink FIFO refactor. Rebased on main with stock math helper.
Related
Fixes #23469. Salvages #27864 (credit @farhangnaderi).
Verification
Simulation HIL FIFO id==0 only; no flight safety path changes. AI-assisted rebase; human-reviewed.
Co-authored-by: Farhang Naderi farhangnaderi@users.noreply.github.com