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drivers/accelerometer: adjust int16_t clipping threshold slightly

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- consider data clipped/saturated if it's INT16_MIN/INT16_MAX or within 1
 - this accommodates rotated data (|INT16_MIN| = INT16_MAX + 1) and sensors that may re-use the lowest bit for other purposes (sync indicator, etc)
This commit is contained in:
Daniel Agar
2021-12-15 12:45:58 -05:00
parent ea29b45282
commit d59d16a6cd
1 changed files with 4 additions and 1 deletions
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src/lib/drivers/accelerometer/PX4Accelerometer.cpp
+4 -1
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@@ -55,7 +55,10 @@ static constexpr uint8_t clipping(const int16_t samples[], uint8_t len)
unsigned clip_count = 0;
for (int n = 0; n < len; n++) {
if ((samples[n] == INT16_MIN) || (samples[n] == INT16_MAX)) {
// - consider data clipped/saturated if it's INT16_MIN/INT16_MAX or within 1
// - this accommodates rotated data (|INT16_MIN| = INT16_MAX + 1)
// and sensors that may re-use the lowest bit for other purposes (sync indicator, etc)
if ((samples[n] <= INT16_MIN + 1) || (samples[n] >= INT16_MAX - 1)) {
clip_count++;
}
}