Send quaterion over the CAN bus

[CullenSharp]

Currently, the main star tracker service sends RA, Roll, DE, Time Since Midnight. The service needs to be updated to send i, j, k, real, (quaternion) and time since midnight. From the attitude estimation that LOST generates, we want:

• attitude_i
• attitude_j
• attitude_k
• attitude_real

Here is an example output from LOST.

attitude_known 1
attitude_ra 17.9868
attitude_de 63.4233
attitude_roll 12.238
attitude_i 0.00786371
attitude_j 0.5304
attitude_k -0.0768838
attitude_real 0.844218

Each of these parameters should be float32 type.

[CullenSharp]

I changed how the camera is mocked, so that it uses a valid star field. This is to handle more integrated testing of the camera on non-flight hardware. This works and it does give me an estimate.

{
  "attitude_known": 1,
  "attitude_ra": 114.389,
  "attitude_de": -56.5813,
  "attitude_roll": 181.962,
  "attitude_i": -0.470187,
  "attitude_j": -0.744405,
  "attitude_k": 0.244071,
  "attitude_real": 0.406466
}

But something happens in the translation to OLAF, that zeros out all the data

  vcan0  3AC   [6]  04 00 07 33 BA 69
  vcan0  4AC   [8]  00 00 00 00 00 00 00 00
  vcan0  1AD   [8]  00 00 00 00 00 00 00 00

[CullenSharp]

Got it fixed. Turns out I wasn't setting the value of the OD correctly

self._attitude_i_obj.value = attitude_estimate["attitude_i"]

The result is this.

vcan0  3AC   [6]  04 01 9C 3A BA 69
vcan0  4AC   [8]  50 1C D0 3E 5A BC F0 
vcan0  1AD   [8]  53 91 3E BF C0 ED 79 3E