check returned sensor angle is non-negative

simplefoc · Nov 7, 2023 · 9fd6621 · 9fd6621
1 parent 7b336cf
commit 9fd6621
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/src/common/base_classes/Sensor.cpp b/src/common/base_classes/Sensor.cpp
@@ -6,6 +6,8 @@
 
 void Sensor::update() {
     float val = getSensorAngle();
+    if (val<0) // sensor angles are strictly non-negative. Negative values are used to signal errors.
+        return; // TODO signal error, e.g. via a flag and counter
     angle_prev_ts = _micros();
     float d_angle = val - angle_prev;
     // if overflow happened track it as full rotation