From ff1da2ba292df0fea9e337454dbaa3caa3cba3d9 Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Thu, 11 Apr 2024 13:16:45 -0800 Subject: [PATCH] remove clip_limit contraint on INT16_MAX --- src/lib/drivers/accelerometer/PX4Accelerometer.cpp | 2 +- src/lib/drivers/gyroscope/PX4Gyroscope.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lib/drivers/accelerometer/PX4Accelerometer.cpp b/src/lib/drivers/accelerometer/PX4Accelerometer.cpp index 9994745a02..f09120a145 100644 --- a/src/lib/drivers/accelerometer/PX4Accelerometer.cpp +++ b/src/lib/drivers/accelerometer/PX4Accelerometer.cpp @@ -179,5 +179,5 @@ void PX4Accelerometer::updateFIFO(sensor_accel_fifo_s &sample) void PX4Accelerometer::UpdateClipLimit() { // 99.9% of potential max - _clip_limit = math::constrain((_range / _scale) * 0.999f, 0.f, (float)INT16_MAX); + _clip_limit = fabsf(_range / _scale * 0.999f); } diff --git a/src/lib/drivers/gyroscope/PX4Gyroscope.cpp b/src/lib/drivers/gyroscope/PX4Gyroscope.cpp index fdce2004a1..687747d4aa 100644 --- a/src/lib/drivers/gyroscope/PX4Gyroscope.cpp +++ b/src/lib/drivers/gyroscope/PX4Gyroscope.cpp @@ -178,5 +178,5 @@ void PX4Gyroscope::updateFIFO(sensor_gyro_fifo_s &sample) void PX4Gyroscope::UpdateClipLimit() { // 99.9% of potential max - _clip_limit = math::constrain((_range / _scale) * 0.999f, 0.f, (float)INT16_MAX); + _clip_limit = fabsf(_range / _scale * 0.999f); }