Thanks for your detailed thoughts and feedback! I think you're correct about the need to normalize the gains. I've opened this ticket to track progress on doing that (or whatever else needs to be done to fix the clipping): https://github.com/seancolsen/octave-compass/issues/80 Pull requests welcome! There are some notes in there pointing others to the relevant part of the code if anyone else wants to take a stab at fixing!
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