[Bug] Simulated gyro sensor data gets inverted at fast rates

[Jaeyoung-Lim]

Describe the bug

I am trying to simulate a fast rotating vehicle, but the gyro data seems to get inverted at high rotating rates (~50rad/s).

I have checked the data up to the FIFO of the gyrodriver, and the data seems correct. However what comes out of the driver is not correct.

PX4-Autopilot/src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp

Lines 249 to 270 in 75ce550

	// gyro 0 is simulated FIFO
	static constexpr float GYRO_FIFO_SCALE = math::radians(2000.f / 32768.f);
	static constexpr float GYRO_FIFO_RANGE = math::radians(2000.f);
	_px4_gyro[sensors.id].set_scale(GYRO_FIFO_SCALE);
	_px4_gyro[sensors.id].set_range(GYRO_FIFO_RANGE);
	if (_gyro_stuck[sensors.id]) {
	_px4_gyro[sensors.id].updateFIFO(_last_gyro_fifo);
	} else if (!_gyro_blocked[sensors.id]) {
	_px4_gyro[sensors.id].set_temperature(_sensors_temperature);
	_last_gyro_fifo.samples = 1;
	_last_gyro_fifo.dt = time - _last_gyro_fifo.timestamp_sample;
	_last_gyro_fifo.timestamp_sample = time;
	_last_gyro_fifo.x[0] = sensors.xgyro / GYRO_FIFO_SCALE;
	_last_gyro_fifo.y[0] = sensors.ygyro / GYRO_FIFO_SCALE;
	_last_gyro_fifo.z[0] = sensors.zgyro / GYRO_FIFO_SCALE;
	_px4_gyro[sensors.id].updateFIFO(_last_gyro_fifo);
	}

To Reproduce

Use this branch: https://github.com/PX4/PX4-Autopilot/tree/pr-monocopter

make px4_sitl gazebo-classic_monocopter

• Switch to manual mode and increase the throttle
  

Expected behavior

In case the gyro saturates, it should report clipping rather than report some other random value

Screenshot / Media

Flight Log

https://review.px4.io/plot_app?log=faa25343-059d-4a67-96ca-101816085007

Software Version

https://github.com/PX4/PX4-Autopilot/tree/pr-monocopter

Flight controller

SITL

Vehicle type

None

How are the different components wired up (including port information)

No response

Additional context

No response

[DronecodeBot]

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-sync-q-a-july-31-2024/39922/2

[DronecodeBot]

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-sync-q-a-july-31-2024/39922/1

[farhangnaderi]

When landing a FW I also experienced this rotation. Not sure if related though!