Merge pull request #437 from csiro-internal/bugfix/camerafirmware-improvements

Evolto's requested camerafirmware improvements

Updated approved submodules and changelog. Rod approved over slack

Author: aluu-csiro

docs/user/PostProcessing.md

@@ -120,6 +120,10 @@ The `rcvd_fa_data_summary.csv` and `best_feedback.csv` both have the same CSV fi
 - feedback_y: the align_feedback's y position in cvd frame
 - feedback_length: (feedback.x^2 + feedback.y^2)^0.5
 - bounds_pixels: defines the bounding box in pixels
+- roi_centre_pixel_x: geometric center x position of bounding box
+- roi_centre_pixel_y: geometric center y position of bounding box
+- roi_rotation_microrads: rotation of bounding box in microradians
+- fuel_mark: boolean indicating whether the align_feedback for this index is minimised
 
 The yaml files will have the following messages within:
 

src/CHANGELOG.md

@@ -9,6 +9,16 @@ This file is to document the high level changes to the RCVD project from release
 - Added `--rcvd_scale_camerafirmware_to_12bit` and `--ignore` args to handbag. This is to scale 16-bit images to be 12-bit.
 - Added `run-handbag-image-scale.bash` script to run handbag outside of RCVD GUI.
 - Added `docs/dev/Images.md`.
+- Added `mask_radius` and `fuel_size` to `iaea-xcvd-camerafirmware` parameters. `fuel_size` is calculated from CV params `fa_size` and `pixel_size`.
+- Added `roi_centre_pixel_x`, `roi_centre_pixel_y`, `roi_rotation_microrads` and `fuel_mark` to CSV outputs from Handbag's Summarise FA Data
+
+### Changed
+
+- Updated `session.py` to forward `fa_size` and `pixel_size` to two topics, CV (original) and camerafirmware (new)
+
+### Fixed
+
+- Fixed bug where `slamcomms.cpp` was only writing x values for `slam_orientation_euler_scaled`.
 
 ## 1.18.13 - 2026-04-14