From 0d3509b99164d4277ebfdea6a2f2a0d62c476f82 Mon Sep 17 00:00:00 2001
From: Marius Eggert <eggertm@irs.uni-stuttgart.de>
Date: Thu, 20 Oct 2022 11:09:52 +0200
Subject: [PATCH] added actuator command values DataSet

---
 .../AcsCtrlDefinitions.h                      | 33 ++++++++++++++-----
 1 file changed, 25 insertions(+), 8 deletions(-)

diff --git a/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h b/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
index c122be43..4a608f71 100644
--- a/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+++ b/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
@@ -16,7 +16,8 @@ enum SetIds : uint32_t {
   GYR_SENSOR_DATA,
   GYR_PROCESSED_DATA,
   GPS_SENSOR_DATA,
-  MEKF_DATA
+  MEKF_DATA,
+  ACTUATOR_CMD_DATA
 };
 
 enum PoolIds : lp_id_t {
@@ -81,22 +82,27 @@ enum PoolIds : lp_id_t {
   GYR_2_VEC,
   GYR_3_VEC,
   GYR_VEC_TOT,
-  // GPS PROCESSED
+  // GPS Processed
   GC_LATITUDE,
   GD_LONGITUDE,
   // MEKF
   SAT_ROT_RATE_MEKF,
   QUAT_MEKF,
+  // Actuator Cmd
+  RW_TARGET_TORQUE,
+  RW_TARGET_SPEED,
+  MTQ_TARGET_DIPOLE,
 };
 
 static constexpr uint8_t MGM_SET_RAW_ENTRIES = 10;
-static constexpr uint8_t MGM_SET_PROCESSED_ENTRIES = 7 * sizeof(float) + 1 * sizeof(double);
+static constexpr uint8_t MGM_SET_PROCESSED_ENTRIES = 8;
 static constexpr uint8_t SUS_SET_RAW_ENTRIES = 12;
-static constexpr uint8_t SUS_SET_PROCESSED_ENTRIES = 14 * sizeof(float) + 1 * sizeof(double);
-static constexpr uint8_t GYR_SET_RAW_ENTRIES = 2 * sizeof(float) + 2 * sizeof(double);
-static constexpr uint8_t GYR_SET_PROCESSED_ENTRIES = 5 * sizeof(double);
-static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 2 * sizeof(double);
-static constexpr uint8_t MEKF_SET_ENTRIES = 14 * sizeof(float) + 1 * sizeof(double);
+static constexpr uint8_t SUS_SET_PROCESSED_ENTRIES = 15;
+static constexpr uint8_t GYR_SET_RAW_ENTRIES = 4;
+static constexpr uint8_t GYR_SET_PROCESSED_ENTRIES = 5;
+static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 2;
+static constexpr uint8_t MEKF_SET_ENTRIES = 2;
+static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
 
 /**
  * @brief   Raw MGM sensor data. Includes the IMTQ sensor data and actuator status.
@@ -227,6 +233,17 @@ class MekfData : public StaticLocalDataSet<MEKF_SET_ENTRIES> {
  private:
 };
 
+class ActuatorCmdData : public StaticLocalDataSet<ACT_CMD_SET_ENTRIES> {
+ public:
+  ActuatorCmdData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, ACTUATOR_CMD_DATA) {}
+
+  lp_vec_t<double, 4> rwTargetTorque = lp_vec_t<double, 4>(sid.objectId, RW_TARGET_TORQUE, this);
+  lp_vec_t<double, 4> rwTargetSpeed = lp_vec_t<double, 4>(sid.objectId, RW_TARGET_SPEED, this);
+  lp_vec_t<double, 3> mtqTargetDipole = lp_vec_t<double, 3>(sid.objectId, MTQ_TARGET_DIPOLE, this);
+
+ private:
+};
+
 }  // namespace acsctrl
 
 #endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_ */