dataset output
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@ -87,8 +87,20 @@ void AttitudeEstimation::quest(acsctrl::SusDataProcessed *susData,
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VectorOperations<double>::mulScalar(qBI, constMinus, qBI, 3);
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QuaternionOperations::normalize(qBI, qBI);
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}
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// ToDo: fill dataset and set to valid
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{
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PoolReadGuard pg{attitudeEstimation};
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(attitudeEstimation->quatQuest.value, qBI, 4 * sizeof(double));
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attitudeEstimation->quatQuest.setValid(true);
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}
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}
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} else {
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// ToDo: fill dataset and set to invalid
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{
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PoolReadGuard pg{attitudeEstimation};
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(attitudeEstimation->quatQuest.value, ZERO_VEC4, 4 * sizeof(double));
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attitudeEstimation->quatQuest.setValid(false);
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}
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}
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}
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}
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@ -1,6 +1,7 @@
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#ifndef MISSION_CONTROLLER_ACS_ATTITUDEESTIMATION_H_
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#define MISSION_CONTROLLER_ACS_ATTITUDEESTIMATION_H_
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#include <fsfw/datapool/PoolReadGuard.h>
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#include <fsfw/globalfunctions/math/QuaternionOperations.h>
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#include <fsfw/globalfunctions/math/VectorOperations.h>
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#include <mission/controller/acs/AcsParameters.h>
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@ -21,6 +22,8 @@ class AttitudeEstimation {
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protected:
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private:
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AcsParameters *acsParameters;
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static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
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};
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#endif /* MISSION_CONTROLLER_ACS_ATTITUDEESTIMATION_H_ */
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