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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 #27927

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14 changes: 8 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 @@ -220,9 +220,10 @@ void SimulatorMavlink::update_sensors(const hrt_abstime &time, const mavlink_hil
accel_fifo.samples = 1;
accel_fifo.dt = time - _last_accel_fifo_timestamp;
accel_fifo.timestamp_sample = time;
accel_fifo.x[0] = sensors.xacc / ACCEL_FIFO_SCALE;
accel_fifo.y[0] = sensors.yacc / ACCEL_FIFO_SCALE;
accel_fifo.z[0] = sensors.zacc / ACCEL_FIFO_SCALE;
// Constrain to FIFO int16 range: beyond full-scale saturates (clip) instead of wrapping.
accel_fifo.x[0] = math::constrainFloatToInt16(sensors.xacc / ACCEL_FIFO_SCALE);
accel_fifo.y[0] = math::constrainFloatToInt16(sensors.yacc / ACCEL_FIFO_SCALE);
accel_fifo.z[0] = math::constrainFloatToInt16(sensors.zacc / ACCEL_FIFO_SCALE);
_last_accel_fifo_timestamp = time;

_px4_accel[sensors.id].updateFIFO(accel_fifo);
Expand Down Expand Up @@ -253,9 +254,10 @@ void SimulatorMavlink::update_sensors(const hrt_abstime &time, const mavlink_hil
gyro_fifo.samples = 1;
gyro_fifo.dt = time - _last_gyro_fifo_timestamp;
gyro_fifo.timestamp_sample = time;
gyro_fifo.x[0] = sensors.xgyro / GYRO_FIFO_SCALE;
gyro_fifo.y[0] = sensors.ygyro / GYRO_FIFO_SCALE;
gyro_fifo.z[0] = sensors.zgyro / GYRO_FIFO_SCALE;
// Constrain to FIFO int16 range: rates beyond full-scale saturates instead of wrapping.
gyro_fifo.x[0] = math::constrainFloatToInt16(sensors.xgyro / GYRO_FIFO_SCALE);
gyro_fifo.y[0] = math::constrainFloatToInt16(sensors.ygyro / GYRO_FIFO_SCALE);
gyro_fifo.z[0] = math::constrainFloatToInt16(sensors.zgyro / GYRO_FIFO_SCALE);
_last_gyro_fifo_timestamp = time;

_px4_gyro[sensors.id].updateFIFO(gyro_fifo);
Expand Down
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