From 9fd66216c100a76adc013686c07e2dc26a140918 Mon Sep 17 00:00:00 2001
From: Richard Unger <richard.unger@nexum.com>
Date: Wed, 8 Nov 2023 00:19:26 +0100
Subject: [PATCH] check returned sensor angle is non-negative

---
 src/common/base_classes/Sensor.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/common/base_classes/Sensor.cpp b/src/common/base_classes/Sensor.cpp
index a80fa438..b0a8f4db 100644
--- 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