From 9e45f283bdf95f7ea504246fb03e5f081cd88474 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 17 Jun 2022 17:52:34 +0200
Subject: [PATCH] Check buffer data and not buffer size
---
src/processor/processor_imu.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index 5fc392a87..56d47d96e 100644
--- a/src/processor/processor_imu.cpp
+++ b/src/processor/processor_imu.cpp
@@ -265,7 +265,7 @@ void ProcessorImu::bootstrap()
case ParamsProcessorImu::BootstrapMethod::BOOTSTRAP_G:
{
// Implementation of G strategy.
- if (last_ptr_->getBuffer().size() > params_motion_Imu_->bootstrap_averaging_length)
+ if (last_ptr_->getBuffer().size() - 1 > params_motion_Imu_->bootstrap_averaging_length)
{
// frames:
// w: world global ( where g = [0,0,-9.806] );
--
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