afmt and changelog

CHANGELOG.md

@@ -17,6 +17,11 @@ change warranting a new major release:
 
 # [unreleased]
 
+## Changed
+
+- ACS Controller scheduling is now configurable via the `eive/definitions.h` file. Also ensured
+  that scheduling is done in big blocks to reduce risk of missed deadlines.
+
 # [v1.26.1] 2023-02-08
 
 - Initialize parameter helper in ACS controller.

bsp_q7s/core/scheduling.h

@@ -2,6 +2,7 @@
 #define BSP_Q7S_INITMISSION_H_
 
 #include <pollingsequence/pollingSequenceFactory.h>
+
 #include <vector>
 
 #include "fsfw/tasks/definitions.h"

common/config/eive/definitions.h

@@ -66,7 +66,7 @@ static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_S
 static constexpr float SCHED_BLOCK_2_PERIOD = static_cast<float>(SCHED_BLOCK_2_ACS_CTRL_MS) / 400.0;
 static constexpr float SCHED_BLOCK_3_PERIOD = static_cast<float>(SCHED_BLOCK_3_ACTUATOR_MS) / 400.0;
 
-}
+}  // namespace acs
 
 }  // namespace config
 

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -1,12 +1,11 @@
 #include "pollingSequenceFactory.h"
 
-#include "eive/definitions.h"
-
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 
+#include "eive/definitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 
 #ifndef RPI_TEST_ADIS16507
@@ -190,46 +189,56 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
   uint32_t length = thisSequence->getPeriodMs();
   bool enableAside = true;
   bool enableBside = true;
-  if(cfg.scheduleAcsBoard) {
+  if (cfg.scheduleAcsBoard) {
-
     if (enableAside) {
       // A side
       thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::PERFORM_OPERATION);
       thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
-                          DeviceHandlerIF::GET_WRITE);
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
-                          DeviceHandlerIF::SEND_READ);
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
 
       thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::PERFORM_OPERATION);
       thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_READ);
     }
 
     if (enableBside) {
@@ -238,38 +247,49 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
                             DeviceHandlerIF::PERFORM_OPERATION);
       thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
-                          DeviceHandlerIF::GET_WRITE);
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
-                          DeviceHandlerIF::SEND_READ);
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
 
       thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::PERFORM_OPERATION);
       thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_READ);
     }
   }
   // SUS: 16 ms
@@ -287,7 +307,7 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
   bool addSus10 = true;
   bool addSus11 = true;
 
-  if(cfg.scheduleSus) {
+  if (cfg.scheduleSus) {
     if (addSus0) {
       /* Write setup */
       thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
@@ -298,16 +318,18 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
                             DeviceHandlerIF::GET_WRITE);
       thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
                             DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
     if (addSus1) {
       thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
@@ -318,16 +340,18 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
                             DeviceHandlerIF::GET_WRITE);
       thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
                             DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
     if (addSus2) {
       thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
@@ -338,16 +362,18 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
                             DeviceHandlerIF::GET_WRITE);
       thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
                             DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
     if (addSus3) {
       thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
@@ -358,16 +384,18 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
                             DeviceHandlerIF::GET_WRITE);
       thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
                             DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
     if (addSus4) {
       thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
@@ -378,16 +406,18 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
                             DeviceHandlerIF::GET_WRITE);
       thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
                             DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
     if (addSus5) {
       thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
@@ -398,16 +428,18 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
                             DeviceHandlerIF::GET_WRITE);
       thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
                             DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
 
     if (addSus6) {
@@ -419,16 +451,18 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
                             DeviceHandlerIF::GET_WRITE);
       thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
                             DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
 
     if (addSus7) {
@@ -440,16 +474,18 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
                             DeviceHandlerIF::GET_WRITE);
       thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
                             DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
 
     if (addSus8) {
@@ -461,16 +497,18 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
                             DeviceHandlerIF::GET_WRITE);
       thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
                             DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
 
     if (addSus9) {
@@ -482,15 +520,17 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
                             DeviceHandlerIF::GET_WRITE);
       thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
                             DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
 
     if (addSus10) {
@@ -505,14 +545,15 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
       thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
                             DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
-                          DeviceHandlerIF::GET_WRITE);
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
-                          DeviceHandlerIF::SEND_READ);
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
-                          DeviceHandlerIF::GET_READ);
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
 
     if (addSus11) {
@@ -527,18 +568,19 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
       thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
                             DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
-                          DeviceHandlerIF::GET_WRITE);
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
-                          DeviceHandlerIF::SEND_READ);
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
-                          DeviceHandlerIF::GET_READ);
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
     }
   }
 
-  if(cfg.scheduleStr) {
+  if (cfg.scheduleStr) {
     thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
@@ -546,62 +588,101 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
     thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
   }
 
-  if(cfg.scheduleImtq) {
+  if (cfg.scheduleImtq) {
     // This is the MTM measurement cycle
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE);
+                          DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
+                          DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+                          DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+                          DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE);
+                          DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
   }
 
   thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_2_PERIOD, 0);
 
-  if(cfg.scheduleImtq) {
+  if (cfg.scheduleImtq) {
     // This is the torquing cycle.
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE);
+                          DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_READ);
   }
 
-  if(cfg.scheduleRws) {
+  if (cfg.scheduleRws) {
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
 
-  thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
-  thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
+                          DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
-  thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
 
-  thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
-  thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE);
+                          DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
-  thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE);
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
 
-  thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
-  thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
+                          DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
-  thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
 
-  thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
-  thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
-  thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::GET_READ);
-
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
-  thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
+                          DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
-  thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
+                          DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
   }
   return returnvalue::OK;
 }