From 1308c546fdf9fa272121e8984d8b93158106421f Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 19 Dec 2023 11:07:45 +0100
Subject: [PATCH 1/2] STR tweak
---
mission/acs/str/StarTrackerHandler.cpp | 32 +++++++++++++++++++++++++-
mission/acs/str/StarTrackerHandler.h | 1 +
2 files changed, 32 insertions(+), 1 deletion(-)
diff --git a/mission/acs/str/StarTrackerHandler.cpp b/mission/acs/str/StarTrackerHandler.cpp
index 147c04d8..7999519c 100644
--- a/mission/acs/str/StarTrackerHandler.cpp
+++ b/mission/acs/str/StarTrackerHandler.cpp
@@ -1162,7 +1162,7 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
break;
}
case (startracker::REQ_SOLUTION): {
- result = handleTm(packet, solutionSet, "REQ_SOLUTION");
+ result = handleSolution(packet);
break;
}
case (startracker::REQ_CONTRAST): {
@@ -2438,6 +2438,36 @@ ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDat
return result;
}
+ReturnValue_t StarTrackerHandler::handleSolution(const uint8_t* rawFrame) {
+ ReturnValue_t result = statusFieldCheck(rawFrame);
+ if (result != returnvalue::OK) {
+ return result;
+ }
+ PoolReadGuard pg(&solutionSet);
+ if (pg.getReadResult() != returnvalue::OK) {
+ return result;
+ }
+ const uint8_t* reply = rawFrame + TICKS_OFFSET;
+ solutionSet.setValidityBufferGeneration(false);
+ size_t sizeLeft = fullPacketLen;
+ result = solutionSet.deSerialize(&reply, &sizeLeft, SerializeIF::Endianness::LITTLE);
+ if (result != returnvalue::OK) {
+ sif::warning << "StarTrackerHandler::handleTm: Deserialization failed for solution set: 0x"
+ << std::hex << std::setw(4) << result << std::dec << std::endl;
+ }
+ solutionSet.setValidityBufferGeneration(true);
+ solutionSet.setValidity(true, true);
+ solutionSet.caliQw.setValid(solutionSet.isTrustWorthy.value);
+ solutionSet.caliQx.setValid(solutionSet.isTrustWorthy.value);
+ solutionSet.caliQy.setValid(solutionSet.isTrustWorthy.value);
+ solutionSet.caliQz.setValid(solutionSet.isTrustWorthy.value);
+ solutionSet.trackQw.setValid(solutionSet.isTrustWorthy.value);
+ solutionSet.trackQx.setValid(solutionSet.isTrustWorthy.value);
+ solutionSet.trackQy.setValid(solutionSet.isTrustWorthy.value);
+ solutionSet.trackQz.setValid(solutionSet.isTrustWorthy.value);
+ return result;
+}
+
ReturnValue_t StarTrackerHandler::handleAutoBlobTm(const uint8_t* rawFrame) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
diff --git a/mission/acs/str/StarTrackerHandler.h b/mission/acs/str/StarTrackerHandler.h
index 6bc1ff09..91651e04 100644
--- a/mission/acs/str/StarTrackerHandler.h
+++ b/mission/acs/str/StarTrackerHandler.h
@@ -527,6 +527,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
const char* context);
+ ReturnValue_t handleSolution(const uint8_t* rawFrame);
ReturnValue_t handleAutoBlobTm(const uint8_t* rawFrame);
ReturnValue_t handleMatchedCentroidTm(const uint8_t* rawFrame);
ReturnValue_t handleBlobTm(const uint8_t* rawFrame);
From c0358d29cebc54000694dd9122019c6e084b9ad1 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 19 Dec 2023 11:29:59 +0100
Subject: [PATCH 2/2] update CHANGELOG
---
CHANGELOG.md | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 213699b3..8593e66a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,10 @@ will consitute of a breaking change warranting a new major release:
# [unreleased]
+## Fixed
+
+- Set STR quaternions to invalid in device handler if the solution is not trustworthy.
+
# [v7.5.2] 2023-12-14
## Fixed