Merge pull request 'First Version of ACS Controller' (#329) from acs-ctrl-v1 into develop

Reviewed-on: #329

CHANGELOG.md

@@ -8,6 +8,13 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/).
 The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
 list yields a list of all related PRs for each release.
 
+# [unreleased]
+
+## Added
+
+- First version of ACS controller
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/329
+
 # [v1.18.0] 01.12.2022
 
 ## Changed

bsp_q7s/OBSWConfig.h.in

@@ -23,7 +23,7 @@
 #define OBSW_ADD_SUN_SENSORS                        @OBSW_ADD_SUN_SENSORS@
 #define OBSW_ADD_SUS_BOARD_ASS                      @OBSW_ADD_SUS_BOARD_ASS@
 #define OBSW_ADD_ACS_BOARD                          @OBSW_ADD_ACS_BOARD@
-#define OBSW_ADD_ACS_CTRL                           @OBSW_ADD_ACS_CTRL@
+#define OBSW_ADD_ACS_CTRL                           1
 #define OBSW_ADD_GPS_CTRL                           @OBSW_ADD_GPS_CTRL@
 #define OBSW_ADD_TCS_CTRL                           @OBSW_ADD_TCS_CTRL@
 #define OBSW_ADD_RW                                 @OBSW_ADD_RW@

bsp_q7s/core/scheduling.cpp

@@ -165,6 +165,35 @@ void scheduling::initTasks() {
     scheduling::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
   }
 #endif
+#if OBSW_Q7S_EM == 1
+  acsCtrlTask->addComponent(objects::MGM_0_LIS3_HANDLER);
+  acsCtrlTask->addComponent(objects::MGM_1_RM3100_HANDLER);
+  acsCtrlTask->addComponent(objects::MGM_2_LIS3_HANDLER);
+  acsCtrlTask->addComponent(objects::MGM_3_RM3100_HANDLER);
+  acsCtrlTask->addComponent(objects::IMTQ_HANDLER);
+  acsCtrlTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
+  acsCtrlTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
+  acsCtrlTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
+  acsCtrlTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
+  acsCtrlTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
+  acsCtrlTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
+  acsCtrlTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
+  acsCtrlTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
+  acsCtrlTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
+  acsCtrlTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
+  acsCtrlTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
+  acsCtrlTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
+  acsCtrlTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
+  acsCtrlTask->addComponent(objects::GYRO_1_L3G_HANDLER);
+  acsCtrlTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
+  acsCtrlTask->addComponent(objects::GYRO_3_L3G_HANDLER);
+  acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
+  acsCtrlTask->addComponent(objects::STAR_TRACKER);
+  acsCtrlTask->addComponent(objects::RW1);
+  acsCtrlTask->addComponent(objects::RW2);
+  acsCtrlTask->addComponent(objects::RW3);
+  acsCtrlTask->addComponent(objects::RW4);
+#endif
 
   PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
       "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);

dummies/CMakeLists.txt

@@ -13,6 +13,7 @@ target_sources(
          PduDummy.cpp
          P60DockDummy.cpp
          SaDeploymentDummy.cpp
+         GpsDummy.cpp
          GyroAdisDummy.cpp
          GyroL3GD20Dummy.cpp
          MgmLIS3MDLDummy.cpp

dummies/GpsDummy.cpp

@@ -0,0 +1,56 @@
+#include "GpsDummy.h"
+
+#include <mission/devices/devicedefinitions/GPSDefinitions.h>
+
+GpsDummy::GpsDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie) {}
+
+GpsDummy::~GpsDummy() {}
+
+void GpsDummy::doStartUp() {}
+
+void GpsDummy::doShutDown() {}
+
+ReturnValue_t GpsDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
+
+ReturnValue_t GpsDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t GpsDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                const uint8_t *commandData, size_t commandDataLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t GpsDummy::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                                     size_t *foundLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t GpsDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return returnvalue::OK;
+}
+
+void GpsDummy::fillCommandAndReplyMap() {}
+
+uint32_t GpsDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+
+ReturnValue_t GpsDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                LocalDataPoolManager &poolManager) {
+  localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}, 1));
+  localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}, 1));
+  localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
+  localDataPoolMap.emplace(GpsHyperion::SPEED, new PoolEntry<double>({7684.2}));
+  localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>({0}));
+
+  return returnvalue::OK;
+}

dummies/GpsDummy.h

@@ -0,0 +1,33 @@
+#ifndef DUMMIES_GPSDUMMY_H_
+#define DUMMIES_GPSDUMMY_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+class GpsDummy : public DeviceHandlerBase {
+ public:
+  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
+  static const DeviceCommandId_t PERIODIC_REPLY = 2;
+
+  static const uint8_t SIMPLE_COMMAND_DATA = 1;
+  static const uint8_t PERIODIC_REPLY_DATA = 2;
+
+  GpsDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  virtual ~GpsDummy();
+
+ protected:
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
+};
+
+#endif /* DUMMIES_GPSDUMMY_H_ */

dummies/GyroAdisDummy.cpp

@@ -40,6 +40,13 @@ uint32_t GyroAdisDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { r
 
 ReturnValue_t GyroAdisDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                      LocalDataPoolManager &poolManager) {
+  localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_X, new PoolEntry<double>({-0.5}, true));
+  localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Y, new PoolEntry<double>({0.2}, true));
+  localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Z, new PoolEntry<double>({-1.2}, true));
+  localDataPoolMap.emplace(ADIS1650X::ACCELERATION_X, new PoolEntry<double>({0.0}));
+  localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Y, new PoolEntry<double>({0.0}));
+  localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Z, new PoolEntry<double>({0.0}));
   localDataPoolMap.emplace(ADIS1650X::TEMPERATURE, new PoolEntry<float>({0.0}));
+
   return returnvalue::OK;
 }

dummies/GyroL3GD20Dummy.cpp

@@ -40,9 +40,9 @@ uint32_t GyroL3GD20Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
 
 ReturnValue_t GyroL3GD20Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                        LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({1.2}, true));
-  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({-0.1}, true));
-  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.7}, true));
   localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
   return returnvalue::OK;
 }

dummies/ImtqDummy.cpp

@@ -39,5 +39,9 @@ uint32_t ImtqDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { retur
 ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                  LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(IMTQ::MGM_CAL_NT, new PoolEntry<float>({0.0, 0.0, 0.0}));
+  localDataPoolMap.emplace(IMTQ::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(IMTQ::MTM_RAW, new PoolEntry<float>({0.12, 0.76, -0.45}, true));
+  localDataPoolMap.emplace(IMTQ::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
   return returnvalue::OK;
 }

dummies/MgmLIS3MDLDummy.cpp

@@ -41,5 +41,7 @@ uint32_t MgmLIS3MDLDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
 ReturnValue_t MgmLIS3MDLDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                        LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS,
+                           new PoolEntry<float>({1.02, 0.56, -0.78}, true));
   return returnvalue::OK;
 }

dummies/MgmRm3100Dummy.cpp

@@ -36,5 +36,7 @@ uint32_t MgmRm3100Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
 
 ReturnValue_t MgmRm3100Dummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                       LocalDataPoolManager& poolManager) {
-  return OK;
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTHS,
+                           new PoolEntry<float>({0.87, -0.95, 0.11}, true));
+  return returnvalue::OK;
 }

dummies/StarTrackerDummy.cpp

@@ -41,5 +41,29 @@ uint32_t StarTrackerDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo)
 ReturnValue_t StarTrackerDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                         LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(startracker::MCU_TEMPERATURE, new PoolEntry<float>({0}));
+
+  localDataPoolMap.emplace(startracker::TICKS_SOLUTION_SET, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(startracker::TIME_SOLUTION_SET, new PoolEntry<uint64_t>({0}));
+  localDataPoolMap.emplace(startracker::CALI_QW, new PoolEntry<float>({1.0}, true));
+  localDataPoolMap.emplace(startracker::CALI_QX, new PoolEntry<float>({0.0}, true));
+  localDataPoolMap.emplace(startracker::CALI_QY, new PoolEntry<float>({0.0}, true));
+  localDataPoolMap.emplace(startracker::CALI_QZ, new PoolEntry<float>({0.0}, true));
+  localDataPoolMap.emplace(startracker::TRACK_CONFIDENCE, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(startracker::TRACK_QW, new PoolEntry<float>({1.0}));
+  localDataPoolMap.emplace(startracker::TRACK_QX, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(startracker::TRACK_QY, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(startracker::TRACK_QZ, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(startracker::TRACK_REMOVED, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(startracker::STARS_CENTROIDED, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(startracker::STARS_MATCHED_DATABASE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(startracker::LISA_QW, new PoolEntry<float>({1.0}));
+  localDataPoolMap.emplace(startracker::LISA_QX, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(startracker::LISA_QY, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(startracker::LISA_QZ, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(startracker::LISA_PERC_CLOSE, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(startracker::LISA_NR_CLOSE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(startracker::TRUST_WORTHY, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(startracker::STABLE_COUNT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(startracker::SOLUTION_STRATEGY, new PoolEntry<uint8_t>({0}));
   return returnvalue::OK;
 }

dummies/SusDummy.cpp

@@ -1,79 +1,43 @@
 #include "SusDummy.h"
 
-#include <objects/systemObjectList.h>
+SusDummy::SusDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie), susSet(this) {}
 
-#include <cmath>
+SusDummy::~SusDummy() {}
-#include <cstdlib>
 
-SusDummy::SusDummy() : ExtendedControllerBase(objects::SUS_0_N_LOC_XFYFZM_PT_XF), susSet(this) {
+void SusDummy::doStartUp() {}
-  ObjectManager::instance()->insert(objects::SUS_6_R_LOC_XFYBZM_PT_XF, this);
+
-  ObjectManager::instance()->insert(objects::SUS_1_N_LOC_XBYFZM_PT_XB, this);
+void SusDummy::doShutDown() {}
-  ObjectManager::instance()->insert(objects::SUS_7_R_LOC_XBYBZM_PT_XB, this);
+
-  ObjectManager::instance()->insert(objects::SUS_2_N_LOC_XFYBZB_PT_YB, this);
+ReturnValue_t SusDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
-  ObjectManager::instance()->insert(objects::SUS_8_R_LOC_XBYBZB_PT_YB, this);
+
-  ObjectManager::instance()->insert(objects::SUS_3_N_LOC_XFYBZF_PT_YF, this);
+ReturnValue_t SusDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
-  ObjectManager::instance()->insert(objects::SUS_9_R_LOC_XBYBZB_PT_YF, this);
+  return NOTHING_TO_SEND;
-  ObjectManager::instance()->insert(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, this);
-  ObjectManager::instance()->insert(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, this);
-  ObjectManager::instance()->insert(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, this);
-  ObjectManager::instance()->insert(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, this);
 }
 
-ReturnValue_t SusDummy::initialize() {
+ReturnValue_t SusDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-  static bool done = false;
+                                                const uint8_t *commandData, size_t commandDataLen) {
-  if (not done) {
-    done = true;
-    ReturnValue_t result = ExtendedControllerBase::initialize();
-    if (result != returnvalue::OK) {
-      return result;
-    }
-  }
-
   return returnvalue::OK;
 }
 
-ReturnValue_t SusDummy::handleCommandMessage(CommandMessage* message) {
+ReturnValue_t SusDummy::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
-  return returnvalue::FAILED;
+                                     size_t *foundLen) {
+  return returnvalue::OK;
 }
 
-void SusDummy::performControlOperation() {
+ReturnValue_t SusDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-  iteration++;
+  return returnvalue::OK;
-  value = sin(iteration / 80. * M_PI + 10) * 10 - 10;
-
-  susSet.read();
-  susSet.temperatureCelcius = value;
-  if ((iteration % 100) < 20) {
-    susSet.setValidity(false, true);
-  } else {
-    susSet.setValidity(true, true);
-  }
-  susSet.commit();
 }
 
-ReturnValue_t SusDummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+void SusDummy::fillCommandAndReplyMap() {}
-                                                LocalDataPoolManager& poolManager) {
+
+uint32_t SusDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+
+ReturnValue_t SusDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(SUS::SusPoolIds::TEMPERATURE_C, new PoolEntry<float>({0}, 1, true));
-  localDataPoolMap.emplace(SUS::SusPoolIds::CHANNEL_VEC, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(SUS::SusPoolIds::CHANNEL_VEC,
+                           new PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0}, true));
 
   return returnvalue::OK;
 }
-
-LocalPoolDataSetBase* SusDummy::getDataSetHandle(sid_t sid) {
-  switch (sid.ownerSetId) {
-    case SUS::SUS_DATA_SET_ID:
-      return &susSet;
-    default:
-      return nullptr;
-  }
-}
-
-ReturnValue_t SusDummy::checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t* msToReachTheMode) {
-  if (submode != SUBMODE_NONE) {
-    return INVALID_SUBMODE;
-  }
-  if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
-    return INVALID_MODE;
-  }
-  return returnvalue::OK;
-}

dummies/SusDummy.h

@@ -1,27 +1,36 @@
-#pragma once
+#ifndef DUMMIES_SUSDUMMY_H_
+#define DUMMIES_SUSDUMMY_H_
 
-#include <fsfw/controller/ExtendedControllerBase.h>
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <mission/devices/devicedefinitions/SusDefinitions.h>
 
-class SusDummy : public ExtendedControllerBase {
+#include "mission/devices/devicedefinitions/SusDefinitions.h"
+
+class SusDummy : public DeviceHandlerBase {
  public:
-  SusDummy();
+  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
+  static const DeviceCommandId_t PERIODIC_REPLY = 2;
 
-  ReturnValue_t initialize() override;
+  static const uint8_t SIMPLE_COMMAND_DATA = 1;
+  static const uint8_t PERIODIC_REPLY_DATA = 2;
+
+  SusDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  virtual ~SusDummy();
 
  protected:
-  virtual ReturnValue_t handleCommandMessage(CommandMessage* message) override;
-  virtual void performControlOperation() override;
-  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                                                LocalDataPoolManager& poolManager) override;
-  virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
-
-  // Mode abstract functions
-  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t* msToReachTheMode) override;
-
- private:
-  int iteration = 0;
-  float value = 0;
   SUS::SusDataset susSet;
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
 };
+
+#endif /* DUMMIES_SUSDUMMY_H_ */

dummies/helpers.cpp

@@ -5,6 +5,7 @@
 #include <dummies/ComCookieDummy.h>
 #include <dummies/ComIFDummy.h>
 #include <dummies/CoreControllerDummy.h>
+#include <dummies/GpsDummy.h>
 #include <dummies/GyroAdisDummy.h>
 #include <dummies/GyroL3GD20Dummy.h>
 #include <dummies/ImtqDummy.h>
@@ -59,10 +60,22 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
     new MgmLIS3MDLDummy(objects::MGM_2_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new MgmRm3100Dummy(objects::MGM_1_RM3100_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new MgmRm3100Dummy(objects::MGM_3_RM3100_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    new GpsDummy(objects::GPS_CONTROLLER, objects::DUMMY_COM_IF, comCookieDummy);
   }
 
   if (cfg.addSusDummies) {
-    new SusDummy();
+    new SusDummy(objects::SUS_0_N_LOC_XFYFZM_PT_XF, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_1_N_LOC_XBYFZM_PT_XB, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_2_N_LOC_XFYBZB_PT_YB, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_3_N_LOC_XFYBZF_PT_YF, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_6_R_LOC_XFYBZM_PT_XF, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_7_R_LOC_XBYBZM_PT_XB, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_8_R_LOC_XBYBZB_PT_YB, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_9_R_LOC_XBYBZB_PT_YF, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::DUMMY_COM_IF, comCookieDummy);
+    new SusDummy(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, objects::DUMMY_COM_IF, comCookieDummy);
   }
 
   if (cfg.addTempSensorDummies) {

mission/controller/AcsController.cpp

@@ -5,7 +5,25 @@
 #include "mission/devices/torquer.h"
 
 AcsController::AcsController(object_id_t objectId)
-    : ExtendedControllerBase(objectId), mgmData(this) {}
+    : ExtendedControllerBase(objectId),
+      sensorProcessing(&acsParameters),
+      navigation(&acsParameters),
+      actuatorCmd(&acsParameters),
+      guidance(&acsParameters),
+      safeCtrl(&acsParameters),
+      detumble(&acsParameters),
+      ptgCtrl(&acsParameters),
+      detumbleCounter{0},
+      mgmDataRaw(this),
+      mgmDataProcessed(this),
+      susDataRaw(this),
+      susDataProcessed(this),
+      gyrDataRaw(this),
+      gyrDataProcessed(this),
+      gpsDataProcessed(this),
+      mekfData(this),
+      ctrlValData(this),
+      actuatorCmdData(this) {}
 
 ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
   return returnvalue::OK;
@@ -25,6 +43,21 @@ void AcsController::performControlOperation() {
       return;
     }
     case InternalState::READY: {
+      if (mode != MODE_OFF) {
+        switch (submode) {
+          case SUBMODE_SAFE:
+            performSafe();
+            break;
+          case SUBMODE_DETUMBLE:
+            performDetumble();
+            break;
+          case SUBMODE_PTG_TARGET:
+          case SUBMODE_PTG_NADIR:
+          case SUBMODE_PTG_INERTIAL:
+            performPointingCtrl();
+            break;
+        }
+      }
       break;
     }
     default:
@@ -32,76 +65,569 @@ void AcsController::performControlOperation() {
   }
 
   {
-      // TODO: Calculate actuator output
+    PoolReadGuard pg(&mgmDataRaw);
-      //    PoolReadGuard pg(&dipoleSet);
-      //    MutexGuard mg(torquer::lazyLock());
-      //    torquer::NEW_ACTUATION_FLAG = true;
-      // TODO: Insert correct values here
-      // dipoleSet.setDipoles(500, 500, 500, 150);
-  }
-
-  {
-    PoolReadGuard pg(&mgmData);
     if (pg.getReadResult() == returnvalue::OK) {
       copyMgmData();
     }
   }
+  {
+    PoolReadGuard pg(&susDataRaw);
+    if (pg.getReadResult() == returnvalue::OK) {
+      copySusData();
+    }
+  }
+  {
+    PoolReadGuard pg(&gyrDataRaw);
+    if (pg.getReadResult() == returnvalue::OK) {
+      copyGyrData();
+    }
+  }
+}
+
+void AcsController::performSafe() {
+  //	Concept: SAFE MODE WITH MEKF
+  //	-do the sensor processing, maybe is does make more sense do call this class function in
+  //	another place since we have to do it for every mode regardless of safe or not
+
+  ACS::SensorValues sensorValues;
+
+  timeval now;
+  Clock::getClock_timeval(&now);
+
+  sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
+                           &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
+  ReturnValue_t validMekf;
+  navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
+                     &mekfData, &validMekf);
+
+  // Give desired satellite rate and sun direction to align
+  double satRateSafe[3] = {0, 0, 0}, sunTargetDir[3] = {0, 0, 0};
+  guidance.getTargetParamsSafe(sunTargetDir, satRateSafe);
+  //	IF MEKF is working
+  double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
+  bool magMomMtqValid = false;
+  if (validMekf == returnvalue::OK) {
+    safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(),
+                      mgmDataProcessed.magIgrfModel.value, mgmDataProcessed.magIgrfModel.isValid(),
+                      susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(),
+                      mekfData.satRotRateMekf.value, mekfData.satRotRateMekf.isValid(),
+                      sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid);
+  } else {
+    safeCtrl.safeNoMekf(
+        now, susDataProcessed.susVecTot.value, susDataProcessed.susVecTot.isValid(),
+        susDataProcessed.susVecTotDerivative.value, susDataProcessed.susVecTotDerivative.isValid(),
+        mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
+        mgmDataProcessed.mgmVecTotDerivative.value, mgmDataProcessed.mgmVecTotDerivative.isValid(),
+        sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid);
+  }
+
+  double dipolCmdUnits[3] = {0, 0, 0};
+  actuatorCmd.cmdDipolMtq(magMomMtq, dipolCmdUnits);
+
+  {
+    PoolReadGuard pg(&ctrlValData);
+    if (pg.getReadResult() == returnvalue::OK) {
+      double zeroQuat[4] = {0, 0, 0, 0};
+      std::memcpy(ctrlValData.tgtQuat.value, zeroQuat, 4 * sizeof(double));
+      ctrlValData.tgtQuat.setValid(false);
+      std::memcpy(ctrlValData.errQuat.value, zeroQuat, 4 * sizeof(double));
+      ctrlValData.errQuat.setValid(false);
+      ctrlValData.errAng.value = errAng;
+      ctrlValData.errAng.setValid(true);
+      ctrlValData.setValidity(true, false);
+    }
+  }
+
+  //	Detumble check and switch
+  if (mekfData.satRotRateMekf.isValid() &&
+      VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) >
+          acsParameters.detumbleParameter.omegaDetumbleStart) {
+    detumbleCounter++;
+  } else if (gyrDataProcessed.gyrVecTot.isValid() &&
+             VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
+                 acsParameters.detumbleParameter.omegaDetumbleStart) {
+    detumbleCounter++;
+  } else {
+    detumbleCounter = 0;
+  }
+  if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
+    submode = SUBMODE_DETUMBLE;
+    detumbleCounter = 0;
+    triggerEvent(SAFE_RATE_VIOLATION);
+  }
+
+  {
+    PoolReadGuard pg(&actuatorCmdData);
+    if (pg.getReadResult() == returnvalue::OK) {
+      int32_t zeroVec[4] = {0, 0, 0, 0};
+      std::memcpy(actuatorCmdData.rwTargetTorque.value, zeroVec, 4 * sizeof(int32_t));
+      actuatorCmdData.rwTargetTorque.setValid(false);
+      std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(int32_t));
+      actuatorCmdData.rwTargetSpeed.setValid(false);
+      std::memcpy(actuatorCmdData.mtqTargetDipole.value, dipolCmdUnits, 3 * sizeof(int16_t));
+      actuatorCmdData.mtqTargetDipole.setValid(true);
+      actuatorCmdData.setValidity(true, false);
+    }
+  }
+  //  {
+  //    PoolReadGuard pg(&dipoleSet);
+  //    MutexGuard mg(torquer::lazyLock());
+  //    torquer::NEW_ACTUATION_FLAG = true;
+  //    dipoleSet.setDipoles(cmdDipolUnits[0], cmdDipolUnits[1], cmdDipolUnits[2], torqueDuration);
+  //  }
+}
+
+void AcsController::performDetumble() {
+  ACS::SensorValues sensorValues;
+
+  timeval now;
+  Clock::getClock_timeval(&now);
+
+  sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
+                           &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
+  ReturnValue_t validMekf;
+  navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
+                     &mekfData, &validMekf);
+
+  double magMomMtq[3] = {0, 0, 0};
+  detumble.bDotLaw(mgmDataProcessed.mgmVecTotDerivative.value,
+                   mgmDataProcessed.mgmVecTotDerivative.isValid(), mgmDataProcessed.mgmVecTot.value,
+                   mgmDataProcessed.mgmVecTot.isValid(), magMomMtq);
+  double dipolCmdUnits[3] = {0, 0, 0};
+  actuatorCmd.cmdDipolMtq(magMomMtq, dipolCmdUnits);
+
+  if (mekfData.satRotRateMekf.isValid() &&
+      VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
+          acsParameters.detumbleParameter.omegaDetumbleEnd) {
+    detumbleCounter++;
+  } else if (gyrDataProcessed.gyrVecTot.isValid() &&
+             VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
+                 acsParameters.detumbleParameter.omegaDetumbleEnd) {
+    detumbleCounter++;
+  } else {
+    detumbleCounter = 0;
+  }
+  if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
+    submode = SUBMODE_SAFE;
+    detumbleCounter = 0;
+  }
+
+  int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
+  for (int i = 0; i < 3; ++i) {
+    cmdDipolUnitsInt[i] = std::round(dipolCmdUnits[i]);
+  }
+  {
+    PoolReadGuard pg(&actuatorCmdData);
+    if (pg.getReadResult() == returnvalue::OK) {
+      int32_t zeroVec[4] = {0, 0, 0, 0};
+      std::memcpy(actuatorCmdData.rwTargetTorque.value, zeroVec, 4 * sizeof(double));
+      actuatorCmdData.rwTargetTorque.setValid(false);
+      std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(int32_t));
+      actuatorCmdData.rwTargetSpeed.setValid(false);
+      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(int16_t));
+      actuatorCmdData.mtqTargetDipole.setValid(true);
+      actuatorCmdData.setValidity(true, false);
+    }
+  }
+  //  {
+  //	  PoolReadGuard pg(&dipoleSet);
+  //	  MutexGuard mg(torquer::lazyLock());
+  //	  torquer::NEW_ACTUATION_FLAG = true;
+  //	  dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
+  // torqueDuration);
+  //  }
+}
+
+void AcsController::performPointingCtrl() {
+  ACS::SensorValues sensorValues;
+
+  timeval now;
+  Clock::getClock_timeval(&now);
+
+  sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
+                           &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
+  ReturnValue_t validMekf;
+  navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
+                     &mekfData, &validMekf);
+
+  double targetQuat[4] = {0, 0, 0, 0}, refSatRate[3] = {0, 0, 0};
+  guidance.targetQuatPtg(&sensorValues, &mekfData, &susDataProcessed, now, targetQuat, refSatRate);
+  double quatErrorComplete[4] = {0, 0, 0, 0}, quatError[3] = {0, 0, 0},
+         deltaRate[3] = {0, 0, 0};  // ToDo: check if pointer needed
+  guidance.comparePtg(targetQuat, &mekfData, refSatRate, quatErrorComplete, quatError, deltaRate);
+  double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
+  double torquePtgRws[4] = {0, 0, 0, 0}, mode = 0;
+  ptgCtrl.ptgGroundstation(mode, quatError, deltaRate, *rwPseudoInv, torquePtgRws);
+  double rwTrqNs[4] = {0, 0, 0, 0};
+  ptgCtrl.ptgNullspace(
+      &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
+      &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
+  double cmdSpeedRws[4] = {0, 0, 0, 0};  // Should be given to the actuator reaction wheel as input
+  actuatorCmd.cmdSpeedToRws(
+      &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
+      &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), torquePtgRws,
+      rwTrqNs, cmdSpeedRws);
+  double mgtDpDes[3] = {0, 0, 0}, dipolUnits[3] = {0, 0, 0};  // Desaturation Dipol
+  ptgCtrl.ptgDesaturation(mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
+                          mekfData.satRotRateMekf.value, &(sensorValues.rw1Set.currSpeed.value),
+                          &(sensorValues.rw2Set.currSpeed.value),
+                          &(sensorValues.rw3Set.currSpeed.value),
+                          &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+  actuatorCmd.cmdDipolMtq(mgtDpDes, dipolUnits);
+
+  int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
+  for (int i = 0; i < 3; ++i) {
+    cmdDipolUnitsInt[i] = std::round(dipolUnits[i]);
+  }
+  int32_t cmdRwSpeedInt[4] = {0, 0, 0, 0};
+  for (int i = 0; i < 4; ++i) {
+    cmdRwSpeedInt[i] = std::round(cmdSpeedRws[i]);
+  }
+
+  {
+    PoolReadGuard pg(&actuatorCmdData);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(actuatorCmdData.rwTargetTorque.value, rwTrqNs, 4 * sizeof(double));
+      std::memcpy(actuatorCmdData.rwTargetSpeed.value, cmdRwSpeedInt, 4 * sizeof(int32_t));
+      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(int16_t));
+      actuatorCmdData.setValidity(true, true);
+    }
+  }
+  //  {
+  //	  PoolReadGuard pg(&dipoleSet);
+  //	  MutexGuard mg(torquer::lazyLock());
+  //	  torquer::NEW_ACTUATION_FLAG = true;
+  //	  dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
+  // torqueDuration);
+  //  }
 }
 
 ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                      LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_LIS3_UT, &mgm0PoolVec);
+  // MGM Raw
-  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_RM3100_UT, &mgm1PoolVec);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_LIS3_UT, &mgm0VecRaw);
-  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_LIS3_UT, &mgm2PoolVec);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_RM3100_UT, &mgm1VecRaw);
-  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3PoolVec);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_LIS3_UT, &mgm2VecRaw);
-  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmPoolVec);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3VecRaw);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmVecRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_ACT_STATUS, &imtqCalActStatus);
-  poolManager.subscribeForRegularPeriodicPacket({mgmData.getSid(), false, 5.0});
+  poolManager.subscribeForRegularPeriodicPacket({mgmDataRaw.getSid(), false, 5.0});
+  // MGM Processed
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_VEC, &mgm0VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_VEC, &mgm1VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_VEC, &mgm2VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_VEC, &mgm3VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_4_VEC, &mgm4VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT, &mgmVecTot);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT_DERIVATIVE, &mgmVecTotDer);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MAG_IGRF_MODEL, &magIgrf);
+  poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), false, 5.0});
+  // SUS Raw
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, &sus0ValRaw);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_N_LOC_XBYFZM_PT_XB, &sus1ValRaw);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_2_N_LOC_XFYBZB_PT_YB, &sus2ValRaw);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_3_N_LOC_XFYBZF_PT_YF, &sus3ValRaw);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_4_N_LOC_XMYFZF_PT_ZF, &sus4ValRaw);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_5_N_LOC_XFYMZB_PT_ZB, &sus5ValRaw);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_6_R_LOC_XFYBZM_PT_XF, &sus6ValRaw);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_7_R_LOC_XBYBZM_PT_XB, &sus7ValRaw);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_8_R_LOC_XBYBZB_PT_YB, &sus8ValRaw);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_R_LOC_XBYBZB_PT_YF, &sus9ValRaw);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_N_LOC_XMYBZF_PT_ZF, &sus10ValRaw);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_R_LOC_XBYMZB_PT_ZB, &sus11ValRaw);
+  poolManager.subscribeForRegularPeriodicPacket({susDataRaw.getSid(), false, 5.0});
+  // SUS Processed
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_VEC, &sus0VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_VEC, &sus1VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_2_VEC, &sus2VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_3_VEC, &sus3VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_4_VEC, &sus4VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_5_VEC, &sus5VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_6_VEC, &sus6VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_7_VEC, &sus7VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_8_VEC, &sus8VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_VEC, &sus9VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_VEC, &sus10VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_VEC, &sus11VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT, &susVecTot);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_VEC_TOT_DERIVATIVE, &susVecTotDer);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUN_IJK_MODEL, &sunIjk);
+  poolManager.subscribeForRegularPeriodicPacket({susDataProcessed.getSid(), false, 5.0});
+  // GYR Raw
+  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_ADIS, &gyr0VecRaw);
+  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_L3, &gyr1VecRaw);
+  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_ADIS, &gyr2VecRaw);
+  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_L3, &gyr3VecRaw);
+  poolManager.subscribeForRegularPeriodicPacket({gyrDataRaw.getSid(), false, 5.0});
+  // GYR Processed
+  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_VEC, &gyr0VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_VEC, &gyr1VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_VEC, &gyr2VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_VEC, &gyr3VecProc);
+  localDataPoolMap.emplace(acsctrl::PoolIds::GYR_VEC_TOT, &gyrVecTot);
+  poolManager.subscribeForRegularPeriodicPacket({gyrDataProcessed.getSid(), false, 5.0});
+  // GPS Processed
+  localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
+  localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
+  poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), false, 5.0});
+  // MEKF
+  localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
+  poolManager.subscribeForRegularPeriodicPacket({mekfData.getSid(), false, 5.0});
+  // Ctrl Values
+  localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_ANG, &errAng);
+  poolManager.subscribeForRegularPeriodicPacket({ctrlValData.getSid(), false, 5.0});
+  // Actuator CMD
+  localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_TORQUE, &rwTargetTorque);
+  localDataPoolMap.emplace(acsctrl::PoolIds::RW_TARGET_SPEED, &rwTargetSpeed);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MTQ_TARGET_DIPOLE, &mtqTargetDipole);
+  poolManager.subscribeForRegularPeriodicPacket({actuatorCmdData.getSid(), false, 5.0});
   return returnvalue::OK;
 }
 
 LocalPoolDataSetBase *AcsController::getDataSetHandle(sid_t sid) {
-  if (sid == mgmData.getSid()) {
+  switch (sid.ownerSetId) {
-    return &mgmData;
+    case acsctrl::MGM_SENSOR_DATA:
+      return &mgmDataRaw;
+    case acsctrl::MGM_PROCESSED_DATA:
+      return &mgmDataProcessed;
+    case acsctrl::SUS_SENSOR_DATA:
+      return &susDataRaw;
+    case acsctrl::SUS_PROCESSED_DATA:
+      return &susDataProcessed;
+    case acsctrl::GYR_SENSOR_DATA:
+      return &gyrDataRaw;
+    case acsctrl::GYR_PROCESSED_DATA:
+      return &gyrDataProcessed;
+    case acsctrl::GPS_PROCESSED_DATA:
+      return &gpsDataProcessed;
+    case acsctrl::MEKF_DATA:
+      return &mekfData;
+    case acsctrl::CTRL_VAL_DATA:
+      return &ctrlValData;
+    case acsctrl::ACTUATOR_CMD_DATA:
+      return &actuatorCmdData;
+    default:
+      return nullptr;
   }
   return nullptr;
 }
 
 ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
                                               uint32_t *msToReachTheMode) {
-  return returnvalue::OK;
+  if (mode == MODE_OFF) {
+    if (submode == SUBMODE_NONE) {
+      return returnvalue::OK;
+    } else {
+      return INVALID_SUBMODE;
+    }
+  } else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) {
+    if ((submode > 6) || (submode < 2)) {
+      return INVALID_SUBMODE;
+    } else {
+      return returnvalue::OK;
+    }
+  }
+  return INVALID_MODE;
 }
 
+void AcsController::modeChanged(Mode_t mode, Submode_t submode) {}
+
+void AcsController::announceMode(bool recursive) {}
+
 void AcsController::copyMgmData() {
+  ACS::SensorValues sensorValues;
   {
-    PoolReadGuard pg(&mgm0Lis3Set);
+    PoolReadGuard pg(&sensorValues.mgm0Lis3Set);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(mgmData.mgm0Lis3.value, mgm0Lis3Set.fieldStrengths.value, 3 * sizeof(float));
+      std::memcpy(mgmDataRaw.mgm0Lis3.value, sensorValues.mgm0Lis3Set.fieldStrengths.value,
+                  3 * sizeof(float));
+      mgmDataRaw.mgm0Lis3.setValid(sensorValues.mgm0Lis3Set.fieldStrengths.isValid());
     }
   }
   {
-    PoolReadGuard pg(&mgm1Rm3100Set);
+    PoolReadGuard pg(&sensorValues.mgm1Rm3100Set);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(mgmData.mgm1Rm3100.value, mgm1Rm3100Set.fieldStrengths.value, 3 * sizeof(float));
+      std::memcpy(mgmDataRaw.mgm1Rm3100.value, sensorValues.mgm1Rm3100Set.fieldStrengths.value,
+                  3 * sizeof(float));
+      mgmDataRaw.mgm1Rm3100.setValid(sensorValues.mgm1Rm3100Set.fieldStrengths.isValid());
     }
   }
   {
-    PoolReadGuard pg(&mgm2Lis3Set);
+    PoolReadGuard pg(&sensorValues.mgm2Lis3Set);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(mgmData.mgm2Lis3.value, mgm2Lis3Set.fieldStrengths.value, 3 * sizeof(float));
+      std::memcpy(mgmDataRaw.mgm2Lis3.value, sensorValues.mgm2Lis3Set.fieldStrengths.value,
+                  3 * sizeof(float));
+      mgmDataRaw.mgm2Lis3.setValid(sensorValues.mgm2Lis3Set.fieldStrengths.isValid());
     }
   }
   {
-    PoolReadGuard pg(&mgm3Rm3100Set);
+    PoolReadGuard pg(&sensorValues.mgm3Rm3100Set);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(mgmData.mgm3Rm3100.value, mgm3Rm3100Set.fieldStrengths.value, 3 * sizeof(float));
+      std::memcpy(mgmDataRaw.mgm3Rm3100.value, sensorValues.mgm3Rm3100Set.fieldStrengths.value,
+                  3 + sizeof(float));
+      mgmDataRaw.mgm3Rm3100.setValid(sensorValues.mgm3Rm3100Set.fieldStrengths.isValid());
     }
   }
   {
-    PoolReadGuard pg(&imtqMgmSet);
+    PoolReadGuard pg(&sensorValues.imtqMgmSet);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(mgmData.imtqRaw.value, imtqMgmSet.mtmRawNt.value, 3 * sizeof(float));
+      std::memcpy(mgmDataRaw.imtqRaw.value, sensorValues.imtqMgmSet.mtmRawNt.value,
-      mgmData.actuationCalStatus.value = imtqMgmSet.coilActuationStatus.value;
+                  3 * sizeof(float));
+      mgmDataRaw.imtqRaw.setValid(sensorValues.imtqMgmSet.mtmRawNt.isValid());
+      mgmDataRaw.actuationCalStatus.value = sensorValues.imtqMgmSet.coilActuationStatus.value;
+      mgmDataRaw.actuationCalStatus.setValid(sensorValues.imtqMgmSet.coilActuationStatus.isValid());
+    }
+  }
+}
+
+void AcsController::copySusData() {
+  ACS::SensorValues sensorValues;
+  {
+    PoolReadGuard pg(&sensorValues.susSets[0]);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(susDataRaw.sus0.value, sensorValues.susSets[0].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus0.setValid(sensorValues.susSets[0].channels.isValid());
+    }
+  }
+  {
+    PoolReadGuard pg(&sensorValues.susSets[1]);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(susDataRaw.sus1.value, sensorValues.susSets[1].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus1.setValid(sensorValues.susSets[1].channels.isValid());
+    }
+  }
+  {
+    PoolReadGuard pg(&sensorValues.susSets[2]);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(susDataRaw.sus2.value, sensorValues.susSets[2].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus2.setValid(sensorValues.susSets[2].channels.isValid());
+    }
+  }
+  {
+    PoolReadGuard pg(&sensorValues.susSets[3]);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(susDataRaw.sus3.value, sensorValues.susSets[3].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus3.setValid(sensorValues.susSets[3].channels.isValid());
+    }
+  }
+  {
+    PoolReadGuard pg(&sensorValues.susSets[4]);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(susDataRaw.sus4.value, sensorValues.susSets[4].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus4.setValid(sensorValues.susSets[4].channels.isValid());
+    }
+  }
+  {
+    PoolReadGuard pg(&sensorValues.susSets[5]);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(susDataRaw.sus5.value, sensorValues.susSets[5].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus5.setValid(sensorValues.susSets[5].channels.isValid());
+    }
+  }
+  {
+    PoolReadGuard pg(&sensorValues.susSets[6]);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(susDataRaw.sus6.value, sensorValues.susSets[6].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus6.setValid(sensorValues.susSets[6].channels.isValid());
+    }
+  }
+  {
+    PoolReadGuard pg(&sensorValues.susSets[7]);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(susDataRaw.sus7.value, sensorValues.susSets[7].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus7.setValid(sensorValues.susSets[7].channels.isValid());
+    }
+  }
+  {
+    PoolReadGuard pg(&sensorValues.susSets[8]);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(susDataRaw.sus8.value, sensorValues.susSets[8].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus8.setValid(sensorValues.susSets[8].channels.isValid());
+    }
+  }
+  {
+    PoolReadGuard pg(&sensorValues.susSets[9]);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(susDataRaw.sus9.value, sensorValues.susSets[9].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus9.setValid(sensorValues.susSets[9].channels.isValid());
+    }
+  }
+  {
+    PoolReadGuard pg(&sensorValues.susSets[10]);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(susDataRaw.sus10.value, sensorValues.susSets[10].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus10.setValid(sensorValues.susSets[10].channels.isValid());
+    }
+  }
+  {
+    PoolReadGuard pg(&sensorValues.susSets[11]);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(susDataRaw.sus11.value, sensorValues.susSets[11].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus11.setValid(sensorValues.susSets[11].channels.isValid());
+    }
+  }
+}
+
+void AcsController::copyGyrData() {
+  ACS::SensorValues sensorValues;
+  {
+    PoolReadGuard pg(&sensorValues.gyr0AdisSet);
+    if (pg.getReadResult() == returnvalue::OK) {
+      gyrDataRaw.gyr0Adis.value[0] = sensorValues.gyr0AdisSet.angVelocX.value;
+      gyrDataRaw.gyr0Adis.value[1] = sensorValues.gyr0AdisSet.angVelocY.value;
+      gyrDataRaw.gyr0Adis.value[2] = sensorValues.gyr0AdisSet.angVelocZ.value;
+      gyrDataRaw.gyr0Adis.setValid(sensorValues.gyr0AdisSet.angVelocX.isValid() &&
+                                   sensorValues.gyr0AdisSet.angVelocY.isValid() &&
+                                   sensorValues.gyr0AdisSet.angVelocZ.isValid());
+    }
+  }
+  {
+    PoolReadGuard pg(&sensorValues.gyr1L3gSet);
+    if (pg.getReadResult() == returnvalue::OK) {
+      gyrDataRaw.gyr1L3.value[0] = sensorValues.gyr1L3gSet.angVelocX.value;
+      gyrDataRaw.gyr1L3.value[1] = sensorValues.gyr1L3gSet.angVelocY.value;
+      gyrDataRaw.gyr1L3.value[2] = sensorValues.gyr1L3gSet.angVelocZ.value;
+      gyrDataRaw.gyr1L3.setValid(sensorValues.gyr1L3gSet.angVelocX.isValid() &&
+                                 sensorValues.gyr1L3gSet.angVelocY.isValid() &&
+                                 sensorValues.gyr1L3gSet.angVelocZ.isValid());
+    }
+  }
+  {
+    PoolReadGuard pg(&sensorValues.gyr2AdisSet);
+    if (pg.getReadResult() == returnvalue::OK) {
+      gyrDataRaw.gyr2Adis.value[0] = sensorValues.gyr2AdisSet.angVelocX.value;
+      gyrDataRaw.gyr2Adis.value[1] = sensorValues.gyr2AdisSet.angVelocY.value;
+      gyrDataRaw.gyr2Adis.value[2] = sensorValues.gyr2AdisSet.angVelocZ.value;
+      gyrDataRaw.gyr2Adis.setValid(sensorValues.gyr2AdisSet.angVelocX.isValid() &&
+                                   sensorValues.gyr2AdisSet.angVelocY.isValid() &&
+                                   sensorValues.gyr2AdisSet.angVelocZ.isValid());
+    }
+  }
+  {
+    PoolReadGuard pg(&sensorValues.gyr3L3gSet);
+    if (pg.getReadResult() == returnvalue::OK) {
+      gyrDataRaw.gyr3L3.value[0] = sensorValues.gyr3L3gSet.angVelocX.value;
+      gyrDataRaw.gyr3L3.value[1] = sensorValues.gyr3L3gSet.angVelocY.value;
+      gyrDataRaw.gyr3L3.value[2] = sensorValues.gyr3L3gSet.angVelocZ.value;
+      gyrDataRaw.gyr3L3.setValid(sensorValues.gyr3L3gSet.angVelocX.isValid() &&
+                                 sensorValues.gyr3L3gSet.angVelocY.isValid() &&
+                                 sensorValues.gyr3L3gSet.angVelocZ.isValid());
     }
   }
 }

mission/controller/AcsController.h

@@ -2,7 +2,15 @@
 #define MISSION_CONTROLLER_ACSCONTROLLER_H_
 
 #include <fsfw/controller/ExtendedControllerBase.h>
+#include <fsfw/globalfunctions/math/VectorOperations.h>
 
+#include "acs/ActuatorCmd.h"
+#include "acs/Guidance.h"
+#include "acs/Navigation.h"
+#include "acs/SensorProcessing.h"
+#include "acs/control/Detumble.h"
+#include "acs/control/PtgCtrl.h"
+#include "acs/control/SafeCtrl.h"
 #include "controllerdefinitions/AcsCtrlDefinitions.h"
 #include "eive/objects.h"
 #include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
@@ -16,10 +24,38 @@ class AcsController : public ExtendedControllerBase {
 
   AcsController(object_id_t objectId);
 
+  static const Submode_t SUBMODE_SAFE = 2;
+  static const Submode_t SUBMODE_DETUMBLE = 3;
+  static const Submode_t SUBMODE_PTG_TARGET = 4;
+  static const Submode_t SUBMODE_PTG_NADIR = 5;
+  static const Submode_t SUBMODE_PTG_INERTIAL = 6;
+
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
+  static const Event SAFE_RATE_VIOLATION =
+      MAKE_EVENT(0, severity::MEDIUM);  //!< The limits for the rotation in safe mode were violated.
+
+ protected:
+  void performSafe();
+  void performDetumble();
+  void performPointingCtrl();
+
  private:
+  AcsParameters acsParameters;
+  SensorProcessing sensorProcessing;
+  Navigation navigation;
+  ActuatorCmd actuatorCmd;
+  Guidance guidance;
+
+  SafeCtrl safeCtrl;
+  Detumble detumble;
+  PtgCtrl ptgCtrl;
+
+  uint8_t detumbleCounter;
+
   enum class InternalState { STARTUP, INITIAL_DELAY, READY };
 
   InternalState internalState = InternalState::STARTUP;
+
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;
 
@@ -30,45 +66,100 @@ class AcsController : public ExtendedControllerBase {
   // Mode abstract functions
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                  uint32_t* msToReachTheMode) override;
+  void modeChanged(Mode_t mode, Submode_t submode);
+  void announceMode(bool recursive);
 
-  // MGMs
+  /* ACS Datasets */
-  acsctrl::MgmDataRaw mgmData;
-
-  MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set =
-      MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER);
-  RM3100::Rm3100PrimaryDataset mgm1Rm3100Set =
-      RM3100::Rm3100PrimaryDataset(objects::MGM_1_RM3100_HANDLER);
-  MGMLIS3MDL::MgmPrimaryDataset mgm2Lis3Set =
-      MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER);
-  RM3100::Rm3100PrimaryDataset mgm3Rm3100Set =
-      RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
-  IMTQ::RawMtmMeasurementSet imtqMgmSet = IMTQ::RawMtmMeasurementSet(objects::IMTQ_HANDLER);
   IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
-
+  // MGMs
-  PoolEntry<float> mgm0PoolVec = PoolEntry<float>(3);
+  acsctrl::MgmDataRaw mgmDataRaw;
-  PoolEntry<float> mgm1PoolVec = PoolEntry<float>(3);
+  PoolEntry<float> mgm0VecRaw = PoolEntry<float>(3);
-  PoolEntry<float> mgm2PoolVec = PoolEntry<float>(3);
+  PoolEntry<float> mgm1VecRaw = PoolEntry<float>(3);
-  PoolEntry<float> mgm3PoolVec = PoolEntry<float>(3);
+  PoolEntry<float> mgm2VecRaw = PoolEntry<float>(3);
-  PoolEntry<float> imtqMgmPoolVec = PoolEntry<float>(3);
+  PoolEntry<float> mgm3VecRaw = PoolEntry<float>(3);
+  PoolEntry<float> imtqMgmVecRaw = PoolEntry<float>(3);
   PoolEntry<uint8_t> imtqCalActStatus = PoolEntry<uint8_t>();
-
   void copyMgmData();
 
-  // Sun Sensors
+  acsctrl::MgmDataProcessed mgmDataProcessed;
-  std::array<SUS::SusDataset, 12> susSets{
+  PoolEntry<float> mgm0VecProc = PoolEntry<float>(3);
-      SUS::SusDataset(objects::SUS_0_N_LOC_XFYFZM_PT_XF),
+  PoolEntry<float> mgm1VecProc = PoolEntry<float>(3);
-      SUS::SusDataset(objects::SUS_1_N_LOC_XBYFZM_PT_XB),
+  PoolEntry<float> mgm2VecProc = PoolEntry<float>(3);
-      SUS::SusDataset(objects::SUS_2_N_LOC_XFYBZB_PT_YB),
+  PoolEntry<float> mgm3VecProc = PoolEntry<float>(3);
-      SUS::SusDataset(objects::SUS_3_N_LOC_XFYBZF_PT_YF),
+  PoolEntry<float> mgm4VecProc = PoolEntry<float>(3);
-      SUS::SusDataset(objects::SUS_4_N_LOC_XMYFZF_PT_ZF),
+  PoolEntry<double> mgmVecTot = PoolEntry<double>(3);
-      SUS::SusDataset(objects::SUS_5_N_LOC_XFYMZB_PT_ZB),
+  PoolEntry<double> mgmVecTotDer = PoolEntry<double>(3);
-      SUS::SusDataset(objects::SUS_6_R_LOC_XFYBZM_PT_XF),
+  PoolEntry<double> magIgrf = PoolEntry<double>(3);
-      SUS::SusDataset(objects::SUS_7_R_LOC_XBYBZM_PT_XB),
+
-      SUS::SusDataset(objects::SUS_8_R_LOC_XBYBZB_PT_YB),
+  // SUSs
-      SUS::SusDataset(objects::SUS_9_R_LOC_XBYBZB_PT_YF),
+  acsctrl::SusDataRaw susDataRaw;
-      SUS::SusDataset(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
+  PoolEntry<uint16_t> sus0ValRaw = PoolEntry<uint16_t>(6);
-      SUS::SusDataset(objects::SUS_11_R_LOC_XBYMZB_PT_ZB),
+  PoolEntry<uint16_t> sus1ValRaw = PoolEntry<uint16_t>(6);
-  };
+  PoolEntry<uint16_t> sus2ValRaw = PoolEntry<uint16_t>(6);
+  PoolEntry<uint16_t> sus3ValRaw = PoolEntry<uint16_t>(6);
+  PoolEntry<uint16_t> sus4ValRaw = PoolEntry<uint16_t>(6);
+  PoolEntry<uint16_t> sus5ValRaw = PoolEntry<uint16_t>(6);
+  PoolEntry<uint16_t> sus6ValRaw = PoolEntry<uint16_t>(6);
+  PoolEntry<uint16_t> sus7ValRaw = PoolEntry<uint16_t>(6);
+  PoolEntry<uint16_t> sus8ValRaw = PoolEntry<uint16_t>(6);
+  PoolEntry<uint16_t> sus9ValRaw = PoolEntry<uint16_t>(6);
+  PoolEntry<uint16_t> sus10ValRaw = PoolEntry<uint16_t>(6);
+  PoolEntry<uint16_t> sus11ValRaw = PoolEntry<uint16_t>(6);
+  void copySusData();
+
+  acsctrl::SusDataProcessed susDataProcessed;
+  PoolEntry<float> sus0VecProc = PoolEntry<float>(3);
+  PoolEntry<float> sus1VecProc = PoolEntry<float>(3);
+  PoolEntry<float> sus2VecProc = PoolEntry<float>(3);
+  PoolEntry<float> sus3VecProc = PoolEntry<float>(3);
+  PoolEntry<float> sus4VecProc = PoolEntry<float>(3);
+  PoolEntry<float> sus5VecProc = PoolEntry<float>(3);
+  PoolEntry<float> sus6VecProc = PoolEntry<float>(3);
+  PoolEntry<float> sus7VecProc = PoolEntry<float>(3);
+  PoolEntry<float> sus8VecProc = PoolEntry<float>(3);
+  PoolEntry<float> sus9VecProc = PoolEntry<float>(3);
+  PoolEntry<float> sus10VecProc = PoolEntry<float>(3);
+  PoolEntry<float> sus11VecProc = PoolEntry<float>(3);
+  PoolEntry<double> susVecTot = PoolEntry<double>(3);
+  PoolEntry<double> susVecTotDer = PoolEntry<double>(3);
+  PoolEntry<double> sunIjk = PoolEntry<double>(3);
+
+  // GYRs
+  acsctrl::GyrDataRaw gyrDataRaw;
+  PoolEntry<double> gyr0VecRaw = PoolEntry<double>(3);
+  PoolEntry<float> gyr1VecRaw = PoolEntry<float>(3);
+  PoolEntry<double> gyr2VecRaw = PoolEntry<double>(3);
+  PoolEntry<float> gyr3VecRaw = PoolEntry<float>(3);
+  void copyGyrData();
+
+  acsctrl::GyrDataProcessed gyrDataProcessed;
+  PoolEntry<double> gyr0VecProc = PoolEntry<double>(3);
+  PoolEntry<double> gyr1VecProc = PoolEntry<double>(3);
+  PoolEntry<double> gyr2VecProc = PoolEntry<double>(3);
+  PoolEntry<double> gyr3VecProc = PoolEntry<double>(3);
+  PoolEntry<double> gyrVecTot = PoolEntry<double>(3);
+
+  // GPS
+  acsctrl::GpsDataProcessed gpsDataProcessed;
+  PoolEntry<double> gcLatitude = PoolEntry<double>();
+  PoolEntry<double> gdLongitude = PoolEntry<double>();
+
+  // MEKF
+  acsctrl::MekfData mekfData;
+  PoolEntry<double> quatMekf = PoolEntry<double>(4);
+  PoolEntry<double> satRotRateMekf = PoolEntry<double>(3);
+
+  // Ctrl Values
+  acsctrl::CtrlValData ctrlValData;
+  PoolEntry<double> tgtQuat = PoolEntry<double>(4);
+  PoolEntry<double> errQuat = PoolEntry<double>(4);
+  PoolEntry<double> errAng = PoolEntry<double>();
+
+  // Actuator CMD
+  acsctrl::ActuatorCmdData actuatorCmdData;
+  PoolEntry<double> rwTargetTorque = PoolEntry<double>(4);
+  PoolEntry<int32_t> rwTargetSpeed = PoolEntry<int32_t>(4);
+  PoolEntry<int16_t> mtqTargetDipole = PoolEntry<int16_t>(3);
 
   // Initial delay to make sure all pool variables have been initialized their owners
   Countdown initialCountdown = Countdown(INIT_DELAY);

mission/controller/CMakeLists.txt

@@ -2,3 +2,5 @@ if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "")
   target_sources(${LIB_EIVE_MISSION} PRIVATE ThermalController.cpp
                                              AcsController.cpp)
 endif()
+
+add_subdirectory(acs)

mission/controller/acs/AcsParameters.cpp

@@ -0,0 +1,544 @@
+#include "AcsParameters.h"
+
+#include <fsfw/src/fsfw/globalfunctions/constants.h>
+#include <stddef.h>
+
+AcsParameters::AcsParameters(){};  //(uint8_t parameterModuleId) :
+                                   // parameterModuleId(parameterModuleId) {}
+
+AcsParameters::~AcsParameters() {}
+
+/*ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint16_t parameterId,
+                                          ParameterWrapper* parameterWrapper,
+                                          const ParameterWrapper* newValues,
+                                          uint16_t startAtIndex) {
+  if (domainId == parameterModuleId) {
+    switch (parameterId >> 8) {
+      case 0x0:  // direct members
+        switch (parameterId & 0xFF) {
+          default:
+            return INVALID_IDENTIFIER_ID;
+        }
+        break;
+      case 0x1:  // OnBoardParams
+        switch (parameterId & 0xFF) {
+          case 0x0:
+            parameterWrapper->set(onBoardParams.sampleTime);
+            break;
+          default:
+            return INVALID_IDENTIFIER_ID;
+        }
+        break;
+      case 0x2:  // InertiaEIVE
+        switch (parameterId & 0xFF) {
+          case 0x0:
+            parameterWrapper->set(inertiaEIVE.inertiaMatrix);
+            break;
+          case 0x1:
+            parameterWrapper->set(inertiaEIVE.inertiaMatrixInverse);
+            break;
+          default:
+            return INVALID_IDENTIFIER_ID;
+        }
+        break;
+      case 0x3:  // MgmHandlingParameters
+        switch (parameterId & 0xFF) {
+          case 0x0:
+            parameterWrapper->set(mgmHandlingParameters.mgm0orientationMatrix);
+            break;
+          case 0x1:
+            parameterWrapper->set(mgmHandlingParameters.mgm1orientationMatrix);
+            break;
+          case 0x2:
+            parameterWrapper->set(mgmHandlingParameters.mgm2orientationMatrix);
+            break;
+          case 0x3:
+            parameterWrapper->set(mgmHandlingParameters.mgm3orientationMatrix);
+            break;
+          case 0x4:
+            parameterWrapper->set(mgmHandlingParameters.mgm4orientationMatrix);
+            break;
+          case 0x5:
+            parameterWrapper->set(mgmHandlingParameters.mgm0hardIronOffset);
+            break;
+          case 0x6:
+            parameterWrapper->set(mgmHandlingParameters.mgm1hardIronOffset);
+            break;
+          case 0x7:
+            parameterWrapper->set(mgmHandlingParameters.mgm2hardIronOffset);
+            break;
+          case 0x8:
+            parameterWrapper->set(mgmHandlingParameters.mgm3hardIronOffset);
+            break;
+          case 0x9:
+            parameterWrapper->set(mgmHandlingParameters.mgm4hardIronOffset);
+            break;
+          case 0xA:
+            parameterWrapper->set(mgmHandlingParameters.mgm0softIronInverse);
+            break;
+          case 0xB:
+            parameterWrapper->set(mgmHandlingParameters.mgm1softIronInverse);
+            break;
+          case 0xC:
+            parameterWrapper->set(mgmHandlingParameters.mgm2softIronInverse);
+            break;
+          case 0xD:
+            parameterWrapper->set(mgmHandlingParameters.mgm3softIronInverse);
+            break;
+          case 0xE:
+            parameterWrapper->set(mgmHandlingParameters.mgm4softIronInverse);
+            break;
+          default:
+            return INVALID_IDENTIFIER_ID;
+        }
+        break;
+      case 0x4:  // SusHandlingParameters
+        switch (parameterId & 0xFF) {
+          case 0x0:
+            parameterWrapper->set(susHandlingParameters.sus0orientationMatrix);
+            break;
+          case 0x1:
+            parameterWrapper->set(susHandlingParameters.sus1orientationMatrix);
+            break;
+          case 0x2:
+            parameterWrapper->set(susHandlingParameters.sus2orientationMatrix);
+            break;
+          case 0x3:
+            parameterWrapper->set(susHandlingParameters.sus3orientationMatrix);
+            break;
+          case 0x4:
+            parameterWrapper->set(susHandlingParameters.sus4orientationMatrix);
+            break;
+          case 0x5:
+            parameterWrapper->set(susHandlingParameters.sus5orientationMatrix);
+            break;
+          case 0x6:
+            parameterWrapper->set(susHandlingParameters.sus6orientationMatrix);
+            break;
+          case 0x7:
+            parameterWrapper->set(susHandlingParameters.sus7orientationMatrix);
+            break;
+          case 0x8:
+            parameterWrapper->set(susHandlingParameters.sus8orientationMatrix);
+            break;
+          case 0x9:
+            parameterWrapper->set(susHandlingParameters.sus9orientationMatrix);
+            break;
+          case 0xA:
+            parameterWrapper->set(susHandlingParameters.sus10orientationMatrix);
+            break;
+          case 0xB:
+            parameterWrapper->set(susHandlingParameters.sus11orientationMatrix);
+            break;
+          case 0xC:
+            parameterWrapper->set(susHandlingParameters.sus0coeffAlpha);
+            break;
+          case 0xD:
+            parameterWrapper->set(susHandlingParameters.sus0coeffBeta);
+            break;
+          case 0xE:
+            parameterWrapper->set(susHandlingParameters.sus1coeffAlpha);
+            break;
+          case 0xF:
+            parameterWrapper->set(susHandlingParameters.sus1coeffBeta);
+            break;
+          case 0x10:
+            parameterWrapper->set(susHandlingParameters.sus2coeffAlpha);
+            break;
+          case 0x11:
+            parameterWrapper->set(susHandlingParameters.sus2coeffBeta);
+            break;
+          case 0x12:
+            parameterWrapper->set(susHandlingParameters.sus3coeffAlpha);
+            break;
+          case 0x13:
+            parameterWrapper->set(susHandlingParameters.sus3coeffBeta);
+            break;
+          case 0x14:
+            parameterWrapper->set(susHandlingParameters.sus4coeffAlpha);
+            break;
+          case 0x15:
+            parameterWrapper->set(susHandlingParameters.sus4coeffBeta);
+            break;
+          case 0x16:
+            parameterWrapper->set(susHandlingParameters.sus5coeffAlpha);
+            break;
+          case 0x17:
+            parameterWrapper->set(susHandlingParameters.sus5coeffBeta);
+            break;
+          case 0x18:
+            parameterWrapper->set(susHandlingParameters.sus6coeffAlpha);
+            break;
+          case 0x19:
+            parameterWrapper->set(susHandlingParameters.sus6coeffBeta);
+            break;
+          case 0x1A:
+            parameterWrapper->set(susHandlingParameters.sus7coeffAlpha);
+            break;
+          case 0x1B:
+            parameterWrapper->set(susHandlingParameters.sus7coeffBeta);
+            break;
+          case 0x1C:
+            parameterWrapper->set(susHandlingParameters.sus8coeffAlpha);
+            break;
+          case 0x1D:
+            parameterWrapper->set(susHandlingParameters.sus8coeffBeta);
+            break;
+          case 0x1E:
+            parameterWrapper->set(susHandlingParameters.sus9coeffAlpha);
+            break;
+          case 0x1F:
+            parameterWrapper->set(susHandlingParameters.sus9coeffBeta);
+            break;
+          case 0x20:
+            parameterWrapper->set(susHandlingParameters.sus10coeffAlpha);
+            break;
+          case 0x21:
+            parameterWrapper->set(susHandlingParameters.sus10coeffBeta);
+            break;
+          case 0x22:
+            parameterWrapper->set(susHandlingParameters.sus11coeffAlpha);
+            break;
+          case 0x23:
+            parameterWrapper->set(susHandlingParameters.sus11coeffBeta);
+            break;
+          case 0x24:
+            parameterWrapper->set(susHandlingParameters.filterAlpha);
+            break;
+          case 0x25:
+            parameterWrapper->set(susHandlingParameters.sunThresh);
+            break;
+          default:
+            return INVALID_IDENTIFIER_ID;
+        }
+        break;
+      case (0x5):  // GyrHandlingParameters
+        switch (parameterId & 0xFF) {
+          case 0x0:
+            parameterWrapper->set(gyrHandlingParameters.gyr0orientationMatrix);
+            break;
+          case 0x1:
+            parameterWrapper->set(gyrHandlingParameters.gyr1orientationMatrix);
+            break;
+          case 0x2:
+            parameterWrapper->set(gyrHandlingParameters.gyr2orientationMatrix);
+            break;
+          case 0x3:
+            parameterWrapper->set(gyrHandlingParameters.gyr3orientationMatrix);
+            break;
+          case 0x4:
+            parameterWrapper->set(gyrHandlingParameters.gyrFusionWeight);
+            break;
+          default:
+            return INVALID_IDENTIFIER_ID;
+        }
+        break;
+      case (0x6):  // RwHandlingParameters
+        switch (parameterId & 0xFF) {
+          case 0x0:
+            parameterWrapper->set(rwHandlingParameters.rw0orientationMatrix);
+            break;
+          case 0x1:
+            parameterWrapper->set(rwHandlingParameters.rw1orientationMatrix);
+            break;
+          case 0x2:
+            parameterWrapper->set(rwHandlingParameters.rw2orientationMatrix);
+            break;
+          case 0x3:
+            parameterWrapper->set(rwHandlingParameters.rw3orientationMatrix);
+            break;
+          case 0x4:
+            parameterWrapper->set(rwHandlingParameters.inertiaWheel);
+            break;
+          case 0x5:
+            parameterWrapper->set(rwHandlingParameters.maxTrq);
+            break;
+          default:
+            return INVALID_IDENTIFIER_ID;
+        }
+        break;
+      case (0x7):  // RwMatrices
+        switch (parameterId & 0xFF) {
+          case 0x0:
+            parameterWrapper->set(rwMatrices.alignmentMatrix);
+            break;
+          case 0x1:
+            parameterWrapper->set(rwMatrices.pseudoInverse);
+            break;
+          case 0x2:
+            parameterWrapper->set(rwMatrices.without0);
+            break;
+          case 0x3:
+            parameterWrapper->set(rwMatrices.without1);
+            break;
+          case 0x4:
+            parameterWrapper->set(rwMatrices.without2);
+            break;
+          case 0x5:
+            parameterWrapper->set(rwMatrices.without3);
+            break;
+          default:
+            return INVALID_IDENTIFIER_ID;
+        }
+        break;
+      case (0x8):  // SafeModeControllerParameters
+        switch (parameterId & 0xFF) {
+          case 0x0:
+            parameterWrapper->set(safeModeControllerParameters.k_rate_mekf);
+            break;
+          case 0x1:
+            parameterWrapper->set(safeModeControllerParameters.k_align_mekf);
+            break;
+          case 0x2:
+            parameterWrapper->set(safeModeControllerParameters.k_rate_no_mekf);
+            break;
+          case 0x3:
+            parameterWrapper->set(safeModeControllerParameters.k_align_no_mekf);
+            break;
+          case 0x4:
+            parameterWrapper->set(safeModeControllerParameters.sunMagAngleMin);
+            break;
+          case 0x5:
+            parameterWrapper->set(safeModeControllerParameters.sunTargetDir);
+            break;
+          case 0x6:
+            parameterWrapper->set(safeModeControllerParameters.satRateRef);
+            break;
+          default:
+            return INVALID_IDENTIFIER_ID;
+        }
+        break;
+      case (0x9):  // DetumbleCtrlParameters
+        switch (parameterId & 0xFF) {
+          case 0x0:
+            parameterWrapper->set(detumbleCtrlParameters.gainD);
+            break;
+          default:
+            return INVALID_IDENTIFIER_ID;
+        }
+        break;
+      case (0xA):  // PointingModeControllerParameters
+        switch (parameterId & 0xFF) {
+          case 0x0:
+            parameterWrapper->set(targetModeControllerParameters.updtFlag);
+            break;
+          case 0x1:
+            parameterWrapper->set(targetModeControllerParameters.A_rw);
+            break;
+          case 0x2:
+            parameterWrapper->set(targetModeControllerParameters.refDirection);
+            break;
+          case 0x3:
+            parameterWrapper->set(targetModeControllerParameters.refRotRate);
+            break;
+          case 0x4:
+            parameterWrapper->set(targetModeControllerParameters.quatRef);
+            break;
+          case 0x5:
+            parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
+            break;
+          case 0x6:
+            parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
+            break;
+          case 0x7:
+            parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
+            break;
+          case 0x8:
+            parameterWrapper->set(targetModeControllerParameters.blindRotRate);
+            break;
+          case 0x9:
+            parameterWrapper->set(targetModeControllerParameters.zeta);
+            break;
+          case 0xA:
+            parameterWrapper->set(targetModeControllerParameters.zetaLow);
+            break;
+          case 0xB:
+            parameterWrapper->set(targetModeControllerParameters.om);
+            break;
+          case 0xC:
+            parameterWrapper->set(targetModeControllerParameters.omLow);
+            break;
+          case 0xD:
+            parameterWrapper->set(targetModeControllerParameters.omMax);
+            break;
+          case 0xE:
+            parameterWrapper->set(targetModeControllerParameters.qiMin);
+            break;
+          case 0xF:
+            parameterWrapper->set(targetModeControllerParameters.gainNullspace);
+            break;
+          case 0x10:
+            parameterWrapper->set(targetModeControllerParameters.desatMomentumRef);
+            break;
+          case 0x11:
+            parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
+            break;
+          case 0x12:
+            parameterWrapper->set(targetModeControllerParameters.desatOn);
+            break;
+          case 0x13:
+            parameterWrapper->set(targetModeControllerParameters.omegaEarth);
+            break;
+          default:
+            return INVALID_IDENTIFIER_ID;
+        }
+        break;
+      case (0xB):  // StrParameters
+        switch (parameterId & 0xFF) {
+          case 0x0:
+            parameterWrapper->set(strParameters.exclusionAngle);
+            break;
+          case 0x1:
+            parameterWrapper->set(strParameters.boresightAxis);
+            break;
+          default:
+            return INVALID_IDENTIFIER_ID;
+        }
+        break;
+      case (0xC):  // GpsParameters
+        switch (parameterId & 0xFF) {
+          default:
+            return INVALID_IDENTIFIER_ID;
+        }
+        break;
+      case (0xD):  // GroundStationParameters
+        switch (parameterId & 0xFF) {
+          case 0x0:
+            parameterWrapper->set(groundStationParameters.latitudeGs);
+            break;
+          case 0x1:
+            parameterWrapper->set(groundStationParameters.longitudeGs);
+            break;
+          case 0x2:
+            parameterWrapper->set(groundStationParameters.altitudeGs);
+            break;
+          case 0x3:
+            parameterWrapper->set(groundStationParameters.earthRadiusEquat);
+            break;
+          case 0x4:
+            parameterWrapper->set(groundStationParameters.earthRadiusPolar);
+            break;
+          default:
+            return INVALID_IDENTIFIER_ID;
+        }
+        break;
+      case (0xE):  // SunModelParameters
+        switch (parameterId & 0xFF) {
+          case 0x0:
+            parameterWrapper->set(sunModelParameters.useSunModel);
+            break;
+          case 0x1:
+            parameterWrapper->set(sunModelParameters.domega);
+            break;
+          case 0x2:
+            parameterWrapper->set(sunModelParameters.omega_0);
+            break;
+          case 0x3:
+            parameterWrapper->set(sunModelParameters.m_0);
+            break;
+          case 0x4:
+            parameterWrapper->set(sunModelParameters.dm);
+            break;
+          case 0x5:
+            parameterWrapper->set(sunModelParameters.e);
+            break;
+          case 0x6:
+            parameterWrapper->set(sunModelParameters.e1);
+            break;
+          case 0x7:
+            parameterWrapper->set(sunModelParameters.p1);
+            break;
+          case 0x8:
+            parameterWrapper->set(sunModelParameters.p2);
+            break;
+          default:
+            return INVALID_IDENTIFIER_ID;
+        }
+        break;
+      case (0xF):  // KalmanFilterParameters
+        switch (parameterId & 0xFF) {
+          case 0x0:
+            parameterWrapper->set(kalmanFilterParameters.activateKalmanFilter);
+            break;
+          case 0x1:
+            parameterWrapper->set(kalmanFilterParameters.requestResetFlag);
+            break;
+          case 0x2:
+            parameterWrapper->set(
+                kalmanFilterParameters.maxToleratedTimeBetweenKalmanFilterExecutionSteps);
+            break;
+          case 0x3:
+            parameterWrapper->set(kalmanFilterParameters.processNoiseOmega);
+            break;
+          case 0x4:
+            parameterWrapper->set(kalmanFilterParameters.processNoiseQuaternion);
+            break;
+          case 0x5:
+            parameterWrapper->set(kalmanFilterParameters.sensorNoiseSTR);
+            break;
+          case 0x6:
+            parameterWrapper->set(kalmanFilterParameters.sensorNoiseSS);
+            break;
+          case 0x7:
+            parameterWrapper->set(kalmanFilterParameters.sensorNoiseMAG);
+            break;
+          case 0x8:
+            parameterWrapper->set(kalmanFilterParameters.sensorNoiseGYR);
+            break;
+          case 0x9:
+            parameterWrapper->set(kalmanFilterParameters.sensorNoiseArwGYR);
+            break;
+          case 0xA:
+            parameterWrapper->set(kalmanFilterParameters.sensorNoiseBsGYR);
+            break;
+          default:
+            return INVALID_IDENTIFIER_ID;
+        }
+        break;
+      case (0x10):  // MagnetorquesParameter
+        switch (parameterId & 0xFF) {
+          case 0x0:
+            parameterWrapper->set(magnetorquesParameter.mtq0orientationMatrix);
+            break;
+          case 0x1:
+            parameterWrapper->set(magnetorquesParameter.mtq1orientationMatrix);
+            break;
+          case 0x2:
+            parameterWrapper->set(magnetorquesParameter.mtq2orientationMatrix);
+            break;
+          case 0x3:
+            parameterWrapper->set(magnetorquesParameter.alignmentMatrixMtq);
+            break;
+          case 0x4:
+            parameterWrapper->set(magnetorquesParameter.inverseAlignment);
+            break;
+          case 0x5:
+            parameterWrapper->set(magnetorquesParameter.DipolMax);
+            break;
+          default:
+            return INVALID_IDENTIFIER_ID;
+        }
+        break;
+      case (0x11):  // DetumbleParameter
+        switch (parameterId & 0xFF) {
+          case 0x0:
+            parameterWrapper->set(detumbleParameter.detumblecounter);
+            break;
+          case 0x1:
+            parameterWrapper->set(detumbleParameter.omegaDetumbleStart);
+            break;
+          case 0x2:
+            parameterWrapper->set(detumbleParameter.omegaDetumbleEnd);
+            break;
+          default:
+            return INVALID_IDENTIFIER_ID;
+        }
+        break;
+      default:
+        return INVALID_IDENTIFIER_ID;
+    }
+    return returnvalue::OK;
+  } else {
+    return INVALID_DOMAIN_ID;
+  }
+}*/

mission/controller/acs/AcsParameters.h

@@ -0,0 +1,905 @@
+/*******************************
+ *	EIVE Flight Software Framework (FSFW)
+ * (c) 2022 IRS, Uni Stuttgart
+ *******************************/
+
+#ifndef ACSPARAMETERS_H_
+#define ACSPARAMETERS_H_
+
+#include <fsfw/parameters/HasParametersIF.h>
+
+#include <cmath>
+
+typedef unsigned char uint8_t;
+
+class AcsParameters /*: public HasParametersIF*/ {
+ public:
+  AcsParameters();
+  virtual ~AcsParameters();
+  /*
+          virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
+                                  ParameterWrapper *parameterWrapper,
+                                  const ParameterWrapper *newValues, uint16_t startAtIndex);
+  */
+  struct OnBoardParams {
+    double sampleTime = 0.1;  // [s]
+  } onBoardParams;
+
+  struct InertiaEIVE {
+    double inertiaMatrix[3][3] = {{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.5, 1.0}};
+    double inertiaMatrixInverse[3][3];
+  } inertiaEIVE;
+
+  struct MgmHandlingParameters {
+    float mgm0orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
+    float mgm1orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
+    float mgm2orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
+    float mgm3orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
+    float mgm4orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
+
+    float mgm0hardIronOffset[3] = {19.89364, -29.94111, -31.07508};
+    float mgm1hardIronOffset[3] = {10.95500, -8.053403, -33.36383};
+    float mgm2hardIronOffset[3] = {15.72181, -26.87090, -62.19010};
+    float mgm3hardIronOffset[3] = {0.0, 0.0, 0.0};
+    float mgm4hardIronOffset[3] = {0.0, 0.0, 0.0};
+
+    float mgm0softIronInverse[3][3] = {{1420.727e-3, 9.352825e-3, -127.1979e-3},
+                                       {9.352825e-3, 1031.965e-3, -80.02734e-3},
+                                       {-127.1979e-3, -80.02734e-3, 934.8899e-3}};
+    float mgm1softIronInverse[3][3] = {{126.7325e-2, -4.146410e-2, -18.37963e-2},
+                                       {-4.146410e-2, 109.3310e-2, -5.246314e-2},
+                                       {-18.37963e-2, -5.246314e-2, 105.7300e-2}};
+    float mgm2softIronInverse[3][3] = {{143.0438e-2, 7.095763e-2, 15.67482e-2},
+                                       {7.095763e-2, 99.65167e-2, -6.958760e-2},
+                                       {15.67482e-2, -6.958760e-2, 94.50124e-2}};
+    float mgm3softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+    float mgm4softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+    float mgm02variance[3] = {1, 1, 1};
+    float mgm13variance[3] = {1, 1, 1};
+    float mgm4variance[3] = {1, 1, 1};
+
+  } mgmHandlingParameters;
+
+  struct SusHandlingParameters {
+    float sus0orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}};     // FM07
+    float sus1orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};   // FM06
+    float sus2orientationMatrix[3][3] = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}};  // FM13
+    float sus3orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}};    // FM14
+    float sus4orientationMatrix[3][3] = {{0, -1, 0}, {1, 0, 0}, {0, 0, 1}};    // FM05
+    float sus5orientationMatrix[3][3] = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}};   // FM02
+    float sus6orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}};     // FM10
+    float sus7orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};   // FM01
+    float sus8orientationMatrix[3][3] = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}};  // FM03
+    float sus9orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}};    // FM11
+    float sus10orientationMatrix[3][3] = {{0, -1, 0}, {1, 0, 0}, {0, 0, 1}};   // FM09
+    float sus11orientationMatrix[3][3] = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}};  // FM08
+
+    float sus0coeffAlpha[9][10] = {
+        {10.4400948050067, 1.38202655603079, 0.975299591736672, 0.0172133914423707,
+         -0.0163482459492803, 0.035730152619911, 0.00021725657060767, -0.000181685375645396,
+         -0.000124096561459262, 0.00040790566176981},
+        {6.38281281805793, 1.81388255990089, 0.28679524291736, 0.0218036823758417,
+         0.010516766426651, 0.000446101708841615, 0.00020187044149361, 0.000114957457831415,
+         1.63114413539632e-05, -2.0187452317724e-05},
+        {-29.3049094555, -0.506844002611835, 1.64911970541112, -0.0336282997119334,
+         0.053185806861685, -0.028164943139695, -0.00021098074590512, 0.000643681643489995,
+         -0.000249094601806692, 0.000231466668650876},
+        {-4.76233790255328, 1.1780710601961, -0.194257188545164, 0.00471817228628384,
+         -0.00183773644319332, -0.00570261621182479, -7.99203367291902e-05, 7.75752247926601e-05,
+         -9.78534772816957e-06, -4.72083745991256e-05},
+        {0.692159025649028, 1.11895461388667, 0.341706834956496, 0.000237989648019541,
+         -0.000188322779563912, 0.000227310789253953, 0.000133001646828401, -0.000305810826248463,
+         0.00010150571088124, -0.000367705461590854},
+        {3.38094203317731, 1.24778838596815, 0.067807236112956, -0.00379395536123526,
+         -0.00339180589343601, -0.00188754615986649, -7.52406312245606e-05, 4.58398750278147e-05,
+         6.97244631313601e-05, 2.50519145070895e-05},
+        {-7.10546287716029, 0.459472977452686, -1.12251049944014, 0.0175406972371191,
+         -0.0310525406867782, -0.0531315970690727, -0.000121107664597462, 0.000544665437051928,
+         -1.78466217018177e-05, -0.00058976234038192},
+        {1.60633684055984, 1.1975095485662, 0.180159204664965, -0.00259157601062089,
+         -0.0038106317634397, 0.000956686555225968, 4.28416721502134e-06, 5.84532336259517e-06,
+         -2.73407888222758e-05, 5.45131881032866e-06},
+        {43.3732235586222, 0.528096786861784, -3.41255850703983, -0.0161629934278675,
+         0.0790998053536612, 0.0743822668655928, 0.000237176965460634, -0.000426691336904078,
+         -0.000889196131314391, -0.000509766491897672}};
+    float sus0coeffBeta[9][10] = {
+        {1.03872648284911, -0.213507239271552, 1.43193059498181, -0.000972717820830235,
+         -0.00661046096415371, 0.00974284211491888, 2.96098456891215e-05, -8.2933115634257e-05,
+         -5.52178824394723e-06, 5.73935295303589e-05},
+        {3.42242235823356, 0.0848392511283237, 1.24574390342586, 0.00356248195980133,
+         0.00100415659893053, -0.00460120247716139, 3.84891005422427e-05, 2.70236417852327e-05,
+         -7.58501977656551e-05, -8.79809730730992e-05},
+        {14.0092526123741, 1.03126714946215, 1.0611008563785, 0.04076462444523, 0.0114106419194518,
+         0.00746959159048058, 0.000388033225774727, -0.000124645014888926, -0.000296639947532341,
+         -0.00020861690864945},
+        {1.3562422681189, -0.241585615891602, 1.49170424068611, 0.000179184170448335,
+         -0.00712399257616284, 0.0121433526723498, 3.29770580642447e-05, 8.78960210966787e-06,
+         -6.00508568552101e-05, 0.000101583822589461},
+        {-0.718855428908583, -0.344067476078684, 1.12397093701762, 0.000236505431484729,
+         -0.000406441415248947, 0.00032834991502413, 0.000359422093285086, 8.18895560425272e-05,
+         0.000316835483508523, 0.000151442890664899},
+        {-0.268764016434841, -0.275272048639511, 1.26239753050527, -0.000511224336925231,
+         0.0095628568270856, -0.00397960092451418, 1.39587366293607e-05, 1.31409051361129e-05,
+         -9.83662017231755e-05, 1.87078667116619e-05},
+        {27.168106989145, -2.43346872338192, 1.91135512970771, 0.0553180826818016,
+         -0.0481878292619383, 0.0052773235604729, -0.000428011927975304, 0.000528018208222772,
+         -0.000285438191474895, -5.71327627917386e-05},
+        {-0.169494136517622, -0.350851545482921, 1.19922076033643, 0.0101120903675328,
+         -0.00151674465424115, 0.00548694086125656, -0.000108240000970513, 1.57202185024105e-05,
+         -9.77555098179959e-05, 2.09624089449761e-05},
+        {-32.3807957489507, 1.8271436443167, 2.51530814328123, -0.0532334586403461,
+         -0.0355980127727253, -0.0213373892796204, 0.00045506092539885, 0.000545065581027688,
+         0.000141998709314758, 0.000101051304611037}};
+    float sus1coeffAlpha[9][10] = {
+        {-27.6783250420482, -0.964805032861791, -0.503974297997131, -0.0446471081874084,
+         -0.048219538329297, 0.000958491361905381, -0.000290972187162876, -0.000657145721554176,
+         -0.000178087038629721, 4.09208968678946e-05},
+        {2.24803085641869, 1.42938692406645, 0.30104994020693, 0.00756499999397385,
+         0.0117765927439368, -0.000743685980641362, 4.69920803836194e-05, 0.000129815636957956,
+         -9.10792250542345e-06, -2.03870119873411e-05},
+        {26.9943033817917, 0.147791175366868, -3.48256070200564, -0.0303332422478656,
+         0.0183377266255394, 0.124593616125966, -0.000466003049304431, -0.000272000698791331,
+         -0.00063621309529853, -0.00158363678978767},
+        {-0.221893380318465, 1.29919955307083, 0.21872487901019, 0.0049448219667127,
+         0.00291224091529189, 0.00654651987282984, -9.86842469311185e-05, 8.20057454706638e-05,
+         6.42331081725944e-05, 7.11656918299053e-05},
+        {1.40178843964621, 1.1733111455249, 0.287485528779234, -0.000793970428759834,
+         0.000170529273905818, -0.00268807864923086, 9.09553964483881e-05, -0.000271892733575409,
+         8.52016306311741e-05, -0.000291797625433646},
+        {0.65549617899457, 1.25716478394514, 0.301396415134214, -0.00357289640403958,
+         -0.000473416364133431, -0.010760332636205, -9.77220176481185e-05, 4.40798040046875e-05,
+         2.84958344955681e-05, 0.000128583400693359},
+        {6.20958048145025, 1.9528406481596, 1.32915657614139, -0.0326944423378284,
+         -0.0158258335207969, 0.0328249756354635, 0.00027113042931131, -0.000133980867173428,
+         -0.000357964552318811, 0.000224235061786191},
+        {2.46222812180944, 1.1731834908026, 0.17440330925151, -0.00132279581980401,
+         -0.00447202005426964, -0.000804321602550913, -1.59526570766446e-05, 2.62946483533391e-05,
+         3.28466749016414e-05, -6.63837547601294e-06},
+        {42.615758859473, 2.46617281707273, -5.742515881283, -0.131942799763164, 0.20250702826603,
+         0.0981562802911027, 0.00189939440077981, -0.0018591621618441, -0.00161121179693977,
+         -0.00058814458116749}};
+    float sus1coeffBeta[9][10] = {
+        {-12.300032617206, -1.06640894101328, 0.33950802247214, -0.00890867870617722,
+         -0.04872758086642, -0.0114263851027856, 0.000141061196404012, -0.000675469545483099,
+         -0.000138249928781575, -0.000138871036200597},
+        {10.1631114109768, 0.261654603839785, 1.2376413405181, 0.00888558138614535,
+         0.00151674939001532, -0.00534577602313027, 9.19430013005559e-05, 5.39804599087081e-05,
+         -4.15760162347772e-05, -7.60797902457032e-05},
+        {-30.142329062199, 1.26939195100229, 6.14467186367471, 0.0464163689935328,
+         0.00379001947505376, -0.165444163648109, 0.000516545385538741, 1.56053219154647e-05,
+         -5.58651971370719e-05, 0.00173185063955313},
+        {12.1454103989862, -0.243589095509132, 2.02543716988677, -0.000857989774598331,
+         -0.00705278543432513, 0.0250580538307654, 3.50683653081847e-05, -2.63093897408875e-05,
+         -5.67352645830913e-05, 0.000232270832022029},
+        {4.4338108906594, -0.305276965994378, 1.17293558142526, 0.000152618994429577,
+         0.00134432642920902, -0.00104036813342885, 0.000334476082056995, 6.74826804343671e-05,
+         0.000275311897725414, 7.58157740577916e-05},
+        {3.47680700379043, -0.154163381023597, 1.389579838768, 0.000799705880026268,
+         0.00401980026462874, -0.00915311817354667, -2.54817301605075e-06, -2.27422984169921e-05,
+         -2.61224817848938e-05, 6.00381132540332e-05},
+        {29.469181543703, -0.722888948550437, 3.3623377135197, 0.00148445490093232,
+         -0.0474780142430845, 0.0486755575785462, 0.000126295091963757, 0.000526632230895258,
+         -0.000259305985126003, 0.000412751148048724},
+        {2.67029041722834, -0.0837968038501666, 1.37628504937018, 0.00165061312885753,
+         -0.00953813055064273, 0.0032433005486936, -1.6522452172598e-05, 0.000144574078261271,
+         -8.47348746872376e-05, -1.92509604512729e-06},
+        {-20.959201441285, -2.23605897639125, 5.73044624806043, 0.0354141964763815,
+         0.0887545371234514, -0.193862330062381, 0.000216532998121618, -0.00207707610520973,
+         0.000552928905346826, 0.00190182163597828}};
+    float sus2coeffAlpha[9][10] = {
+        {6.51602979328333, 0.690575501042577, 1.18185457002269, -0.0153161662266588,
+         0.00145972227341484, 0.0351496474730776, -0.000172645571366945, -6.04213053580018e-05,
+         9.74494676304114e-05, 0.000334122888261002},
+        {0.954398509323963, 1.10996214782069, 0.313314231563221, -0.00367553051112208,
+         0.0110290193380194, 0.000240079475656232, -6.93444423181303e-05, 0.000107433381295167,
+         1.30750132315838e-05, -2.43580795300515e-05},
+        {-55.1159841655056, -1.47449655191106, 3.40106264596874, -0.0621428271456258,
+         0.0659788065633613, -0.0791732068323335, -0.000524264070592741, 0.000582093651418709,
+         -0.000586102213707195, 0.000658133691098817},
+        {1.98614148820353, 1.32058724763677, 0.156843003413303, 0.002748082456053,
+         0.00202677073171519, 0.00382360695862248, -0.000122364309010211, 5.33354637965168e-05,
+         3.93641210098335e-05, 4.06398431916703e-05},
+        {3.41223117010734, 1.1597568029329, 0.31881674291653, -0.000382400010917784,
+         -0.000754945672515052, -0.00079200882313927, 0.000145713118224563, -0.00026910957285589,
+         0.000137876961532787, -0.000326798596746712},
+        {6.23333031852853, 1.24902998148103, -0.0162317540018123, -0.00338184464699201,
+         0.000420329743164687, 0.00202038442335185, -7.10435889754986e-05, -6.04039458988991e-06,
+         7.25318569569788e-06, -2.5930447720704e-05},
+        {191.759784636909, -10.5228276216193, 8.48306234734519, 0.243240262512846,
+         -0.344226468125615, 0.126267158197535, -0.00186612281541009, 0.00304415728817747,
+         -0.00304958575196089, 0.000457236034569107},
+        {5.61375025356727, 1.1692295110657, 0.224665256727786, -0.00230481633344849,
+         -0.00746693012026367, -0.00172583925345173, -7.00823444553058e-06, 7.31362778266959e-05,
+         5.81988007269583e-05, 1.3723604109425e-05},
+        {98.0250669452855, -2.18500123986039, -6.68238707939385, 0.000754807832106659,
+         0.256133336978808, 0.110826583415768, 0.000457663127670018, -0.00197655629847616,
+         -0.00254305206375073, -0.000466731538082995}};
+    float sus2coeffBeta[9][10] = {
+        {41.1102358678699, 2.3034699186519, 2.74551448799899, 0.061701310929235, 0.0317074142089495,
+         0.0308171492962288, 0.00049453042200054, 0.000519222896270701, 2.85420168881716e-05,
+         0.000259197384126413},
+        {4.46821725251333, 0.0125273331991983, 1.32640678842532, 0.000543566569079156,
+         0.00396616601484022, -0.00488408099728387, -3.05734704054868e-06, 7.3424831303621e-05,
+         -5.49439160235527e-05, -8.30708110469922e-05},
+        {64.773396165255, 2.97057686090134, -1.90770757709096, 0.062747116236773,
+         -0.077990648565002, 0.0613989204238974, 0.00055512113297293, -0.000347045533958329,
+         0.00104059576098392, -0.000348638726253297},
+        {3.10352939390402, -0.2376108554276, 1.60523925160222, 0.00116454605680723,
+         -0.0067958260462381, 0.0136561370875238, 2.59929059167486e-05, 3.33825895937897e-05,
+         -5.55828531601728e-05, 0.000109833374761172},
+        {0.156052891975873, -0.320721597024578, 1.15208488414874, 0.00164743688819939,
+         0.000534718891498932, 0.000469870758457642, 0.000308432468885207, 0.00011789470679678,
+         0.000292373398965513, 0.000183599033441813},
+        {2.84967971406268, -0.21374251183113, 1.09938586447269, 2.34894704600407e-05,
+         0.00588345375399262, 0.00296966835738407, 8.42707308834155e-06, 2.81870099202641e-06,
+         -3.56732787246631e-05, -7.04534663356379e-05},
+        {-7.59892007483895, 0.358662160515702, 0.805137646978357, 0.00222144376998348,
+         0.0464438387809707, 0.00847551828841782, 3.24805702347551e-05, 5.45500807838332e-05,
+         0.000941378089367713, 0.000353137737023192},
+        {-4.65367165487109, 0.201306010390421, 1.19135575710523, -0.00692801521395975,
+         0.00394118754078443, 0.00426360093528599, 6.297683536736e-05, -7.15794236895102e-05,
+         -7.47076172176468e-05, -1.94516917836346e-05},
+        {-59.5882618930651, 3.84530212586425, 3.50497032358686, -0.116100453177197,
+         -0.0380997421813177, -0.0581898335691109, 0.00111464935006159, 0.000559313074537689,
+         0.000168067749764069, 0.000563224178849256}};
+    float sus3coeffAlpha[9][10] = {
+        {-174.687021034355, -7.53454036765748, -9.33798316371397, -0.18212338430986,
+         -0.242523652239734, -0.202086838965846, -0.00138648793335223, -0.00225430176012882,
+         -0.00198887215340364, -0.00160678535160774},
+        {6.92009692410602, 1.8192037428209, 0.254908171908415, 0.0179273243472017,
+         0.00894059238779664, -0.000436952529644, 0.000138070523903458, 9.22759645920339e-05,
+         -9.4312261303588e-06, -1.76647897892869e-05},
+        {-17.9720006944368, 0.230510201259892, 1.10751755772907, -0.00973621304161327,
+         0.0554450499198677, -0.00590970792122449, -2.92393772526592e-05, 0.000444329929586969,
+         -0.000436055839773919, -9.5869891049503e-05},
+        {-4.9880829382985, 1.33627775121504, -0.330382157073243, 0.00306744056311184,
+         0.00376353074674973, -0.0107453978169225, -0.00010680477021693, 5.17225535432745e-05,
+         7.4423443938376e-05, -0.000107927900087035},
+        {0.952867982900728, 1.14513280899596, 0.307744203675505, 0.000404669974219378,
+         -0.000737988606997615, 0.00120218232577844, 0.000191147653645603, -0.000275058867995882,
+         0.000137187356620739, -0.000320202731145004},
+        {8.076706574364, 1.31338618710295, -0.334634356394277, -0.00209719438033295,
+         -0.00381753503582303, 0.0100347823323616, -7.00550548221671e-05, -1.97626956996069e-05,
+         7.80079707003333e-05, -8.95904360920744e-05},
+        {-82.4748312650249, 8.63074484663009, -0.949295700187556, -0.178618807265278,
+         0.130143669167547, 0.0284326533865768, 0.00149831261351137, -0.0011583692969717,
+         0.0010560778729661, 0.000635404380970666},
+        {3.34457857521978, 1.09242517408071, 0.241722402244944, 0.00381629887587041,
+         -0.00863580122530851, 0.00137050492069702, -8.91046701171713e-05, 8.44169683308007e-05,
+         -3.54608413548779e-05, 8.54042677832451e-06},
+        {78.1540457908649, -1.30266922193303, -5.33605443700115, 0.0184226131926499,
+         0.146629920899062, 0.110698519952472, 6.64041537651749e-05, -0.00120174584530713,
+         -0.00133177694921411, -0.000796422644338886}};
+    float sus3coeffBeta[9][10] = {
+        {-31.5704266802979, -5.10700699133189, 2.84549700473812, -0.122701561048957,
+         -0.11257100034746, 0.102120576206517, -0.000796645106694696, -0.00192211266325167,
+         -4.99981232866237e-05, 0.00104036677004523},
+        {-0.734294938181273, -0.0694317595592039, 1.34746975389878, -0.00103465544451119,
+         0.00389798465946559, -0.00308561832194191, -2.91843250099708e-06, 7.59634622232999e-05,
+         -6.54571602919161e-05, -0.000104146832644606},
+        {24.2649069708536, 3.08145095664586, 1.88975821636026, 0.0767528234206466,
+         -0.0526971951753399, -0.0477053831942802, 0.000613806533422364, -0.000631628059238499,
+         0.00026217621127941, 0.000555307997961608},
+        {0.62884078560034, -0.152668817824194, 1.70304497205574, 0.000894387499536142,
+         -0.00306495168098874, 0.0180087418010658, 1.74990847586174e-05, 3.1263263531046e-05,
+         -7.1643235604579e-06, 0.000147876621100347},
+        {-3.05400297018165, -0.316256447664344, 1.14841722699638, 0.000671621084688467,
+         -0.000906765726598906, 0.000687041032077189, 0.000323419818039841, 0.000128019308781935,
+         0.000286018723737538, 0.000192248693306256},
+        {-4.39855066935163, -0.322858945262125, 1.44405016355615, -4.93181749911261e-05,
+         0.0127396834052722, -0.00523149676786941, 2.56561922352657e-05, 7.61202764874326e-06,
+         -0.00014623717850039, 8.12219846932013e-06},
+        {110.820397525173, -10.9497307382094, 2.48939759290446, 0.296585618718034,
+         -0.142611297893517, -0.0141810186612052, -0.00275127095595919, 0.00160686698368569,
+         -0.000872029428758877, -0.000410522437887563},
+        {-7.15740446281205, 0.104233532313688, 1.13155893729292, -0.00350418544400852,
+         0.00532058598508803, 0.00459314980222008, 3.09155436939349e-05, -7.60935741692174e-05,
+         -5.87922606348196e-05, 2.56146268588382e-05},
+        {44.8818060495112, -7.94729992210875, 3.59286389225051, 0.217944601088562,
+         0.108087933176612, -0.116711715153385, -0.00194260120960441, -0.0015752762498594,
+         -0.000331129410732722, 0.00125896996438418}};
+    float sus4coeffAlpha[9][10] = {
+        {-12.4581187126738, 0.398038572289047, -0.438887880988151, -0.00965382887938283,
+         -0.0309322349328842, -0.00359106522420111, -7.79546112299913e-06, -0.000432733997178497,
+         -9.79031907635314e-05, -1.49299384451257e-05},
+        {8.41054378583447, 1.87462327360707, 0.266809999719952, 0.0216455385250676,
+         0.00879426079919981, -0.00142295319820553, 0.000194819780653264, 8.57549705064449e-05,
+         -3.56478452552367e-05, -1.65680920554434e-05},
+        {16.4141780945815, 2.57697842088604, 0.373972171754278, 0.0498264199400303,
+         0.0183175817756131, -0.008545409848878, 0.000422696533006382, -0.000268245978898508,
+         -0.000663188021815416, -7.51144017137827e-05},
+        {0.796692054977593, 1.26773229735266, 0.247715261673662, 0.00358183885438128,
+         0.00216435175662881, 0.00713732829335305, -0.000110129715615857, 3.56051594182427e-05,
+         5.03074365340535e-05, 8.40279146176271e-05},
+        {2.37491588500165, 1.05997969088519, 0.309540461340971, -0.000405047711742513,
+         0.000462224730316111, -0.00201887171945793, 0.000260159805167265, -0.000282867209803598,
+         0.000201613303652666, -0.000277796442847579},
+        {6.36749007598708, 1.31659760017973, -0.122724934153231, -0.00328808937096891,
+         -0.00577347207798776, 0.00403172074457999, -7.45676459772001e-05, 1.79838644222274e-05,
+         0.000104552066440564, -2.78115121929346e-05},
+        {-47.9667098848496, 3.97703197139796, -1.96403894754299, -0.0577989657406978,
+         0.0634225576208007, -0.0346023445055141, 0.00045886475369098, -0.000326132951996844,
+         0.000716490441845967, -0.000136132038635483},
+        {6.21505474256094, 0.871830486201601, 0.286906473833627, 0.007875292606045,
+         -0.00974634725746389, 0.00128416935792136, -0.000111796743751489, 0.000102016719989187,
+         -3.3503088289589e-05, -1.03874407813931e-05},
+        {102.09801265482, -4.12715152309748, -5.04594403360339, 0.075499959116996,
+         0.216574192561683, 0.0750031215784663, -0.000147358932612646, -0.0023710703422108,
+         -0.00143310719642393, -0.000431914403446768}};
+    float sus4coeffBeta[9][10] = {
+        {-21.5077132684032, -1.60004839699939, -0.0298995033958561, -0.0315563250430659,
+         -0.0424403625879891, -0.0245426225510417, -0.000209861203016225, -0.000422150973104431,
+         -0.00030514398458781, -0.000211986731019738},
+        {9.07644247897601, 0.207457289788099, 1.26735366597312, 0.00768477352180427,
+         0.00429230749575816, -0.00514802326062087, 7.56149591998578e-05, 8.42794730840662e-05,
+         -3.62215715492783e-05, -5.24384190165239e-05},
+        {-33.5225408043693, -3.11167857248829, 1.91760591695775, -0.0963752386435729,
+         0.00026620241534153, -0.0256680391021823, -0.00102188712837393, 2.63753563968978e-05,
+         0.000113172463974702, 0.000271939918507175},
+        {19.1379025029401, -0.225979661987912, 2.72337120022998, -0.00136982412154458,
+         -0.00447301210555274, 0.046496718064139, 2.09123846958985e-05, -4.30383094864847e-05,
+         -1.22808643520768e-05, 0.000440555709696048},
+        {2.957867714783, -0.316069593806939, 1.06379930645214, 0.00103244713047271,
+         0.00148059212230411, 0.000557885068990542, 0.000288633931072557, 0.000172775380291659,
+         0.000269738457990237, 0.000254577019084984},
+        {2.04155199929521, -0.318303488378033, 1.37820715117028, 0.00114788656817743,
+         0.0130051117909245, -0.00743109928493789, 1.22403390396844e-05, -3.19245785131217e-05,
+         -0.000156735218010879, 3.81458400945988e-05},
+        {27.314954181241, -1.43916155634084, 2.48967706992348, 0.0278695408478388,
+         -0.0341141456915131, 0.0281959785297513, -0.000252996164135396, 0.000163365679366542,
+         -0.000380129463154642, 0.000159350154429114},
+        {-0.274693278266294, 0.0199711721436635, 1.26676843352524, -0.0006713759238817,
+         -0.00389715205101059, 0.00294298337610857, -9.58643121413979e-06, 6.30700938550725e-05,
+         -6.07188867796123e-05, 7.72199861279611e-06},
+        {-74.1601853968901, 2.55641628908672, 6.38533530714782, -0.0582345132980647,
+         -0.0653804553172819, -0.138850555683872, 0.000489364157827405, 0.000469559629292745,
+         0.000698140692952438, 0.00123017528239406}};
+    float sus5coeffAlpha[9][10] = {
+        {-12.1398741236355, 1.99425442858125, -1.9303044815802, 0.0418421279520049,
+         -0.0309683799946315, -0.0562201123081437, 0.000522607299552916, -0.000375386573815007,
+         -0.000183899715035788, -0.000600349486293698},
+        {4.51862054729553, 1.72396080253297, 0.274562680698765, 0.0162681383591035,
+         0.0108410181586673, -0.000272215427359511, 0.000124164068046579, 0.000125586897851351,
+         -1.24082224214974e-05, -1.63339067540159e-05},
+        {63.0100748193658, 7.78014670478172, 0.327263471268564, 0.181264302704374,
+         -0.0652454854214506, -0.03906716801285, 0.00166924078925478, -0.000749939315526625,
+         0.000320696101132374, 0.000499934751180042},
+        {-2.14377722994325, 1.33617641673436, 0.0973465660282871, 0.00389526886867845,
+         0.00526064997381395, 0.00244964888333519, -8.59416490903541e-05, 4.58871931007681e-05,
+         8.6123353128647e-05, 2.85447259858337e-05},
+        {0.164792977301912, 1.17541977248641, 0.348838798760518, -0.000180865118417534,
+         0.000331789515553421, -0.000734333865631793, 9.76677859410759e-05, -0.000324347075049525,
+         8.66683396011167e-05, -0.000385839566009832},
+        {-0.228934187493575, 1.30552820143752, 0.306779576899158, -0.00508763741184706,
+         -0.00318524263093038, -0.00878095392529144, -6.59040013073836e-05, 8.69122529321691e-05,
+         5.73853071731283e-05, 8.56628414466758e-05},
+        {22.6047744510684, -0.591739857860868, 0.566728856847393, 0.0498124268150265,
+         -0.0214126910277926, 0.00538091942017912, -0.000391517685229849, 0.000554321668236216,
+         0.000191004410219065, 0.000102775124022018},
+        {4.54704081104052, 0.844841244606025, 0.181355971462193, 0.0109743851006749,
+         -0.00363467884122547, 0.00108873046814694, -0.000153236888951059, 3.14623342713789e-06,
+         -2.78503202185463e-05, 3.99983788680736e-06},
+        {-30.878359404848, 5.20536009886854, -0.674455093700773, -0.10801865891189,
+         -0.0514805639475938, 0.0503660452068572, 0.00072776817295273, 0.00120288537038655,
+         -0.000301602375634166, -0.000477098479809266}};
+    float sus5coeffBeta[9][10] = {
+        {16.8155737032787, 0.65475660868259, 1.95532810363711, 0.000295624718662669,
+         0.0426379914736747, 0.00192544771588337, -4.94534888281508e-05, 8.32299142575155e-05,
+         0.000645497238623369, -0.000234155227840799},
+        {9.48268090632318, 0.528942263930744, 1.34030963800712, 0.0173605129814363,
+         0.00581086655972212, -0.00365006277801141, 0.000180048140973223, 0.000102002650672644,
+         -4.10833110241736e-05, -8.7810396165556e-05},
+        {-47.8325489165383, -4.78262055949503, 1.66912859871505, -0.143518014673292,
+         0.0288441527062856, -0.00322823115861497, -0.00148509910480755, 0.000284265179004289,
+         -0.000175299737313045, -7.04175618676909e-05},
+        {3.70510151312723, -0.272200626024415, 1.5527519845099, 0.000589727630962265,
+         -0.00889682554869096, 0.0109857452472628, 3.05876215574877e-05, 2.09194236165814e-05,
+         -8.33769024439277e-05, 6.90991113575066e-05},
+        {0.820199776906695, -0.355683467192776, 1.17142130858009, -0.000160174871610729,
+         4.09723480153701e-05, 0.000209103751629257, 0.000390331989170637, 6.45642836249667e-05,
+         0.000318092703362044, 0.000107158633760141},
+        {5.52084497768914, -0.227775345312466, 0.845897282556327, 0.00157426476122436,
+         0.00657189797805861, 0.0103797665963117, 2.51479848048895e-05, -4.78371400399983e-05,
+         -5.20221896473413e-05, -0.000143840492906166},
+        {-33.4875689683454, 0.937557276329106, -1.02741065470967, -0.0140023273976314,
+         0.0401908729477037, -0.0512457211360142, 7.05537967426573e-05, -0.00027521752411122,
+         0.000407657552700476, -0.000458411000693613},
+        {0.931346887326171, -0.320804452025793, 1.28866325376154, 0.00912456151698805,
+         -0.00404367403569981, 0.00477543659981282, -9.43987917474817e-05, 4.66464249533497e-05,
+         -7.89362487264572e-05, -1.0951496495443e-05},
+        {-38.3689359928435, 3.8540516906071, 1.26391725545116, -0.108584643500539,
+         -0.0542697403292778, 0.0285360568428252, 0.000845084580479371, 0.00114184315411245,
+         -0.000169538153750085, -0.000336529204350355}};
+    float sus6coeffAlpha[9][10] = {
+        {13.0465222152293, 0.0639132159808454, 2.98083557560227, -0.0773202212713293,
+         0.0949075412003712, 0.0503055998355815, -0.00104133434256204, 0.000633099036136146,
+         0.00091428505258307, 0.000259857066722932},
+        {1.66740227859888, 1.55804368674744, 0.209274741749388, 0.0123798418560859,
+         0.00724950517167516, -0.000577445375457582, 8.94374551545955e-05, 6.94513586221567e-05,
+         -1.06065583714065e-05, -1.43899892666699e-05},
+        {8.71610925597519, 1.42112818752419, -0.549859300501301, 0.0374581774684577,
+         0.0617635595955198, 0.0447491072679598, 0.00069998577106559, 0.00101018723225412,
+         -4.88501228194031e-06, -0.000434861113274231},
+        {-2.3555601314395, 1.29430213886389, 0.179499593411187, 0.00440896450927253,
+         0.00352052300927628, 0.00434187143967281, -9.66615195654703e-05, 3.64923075694275e-05,
+         6.09619017310129e-05, 4.23908862836885e-05},
+        {-0.858019663974047, 1.10138705956076, 0.278789852526915, -0.000199798507752607,
+         0.00112092406838628, -0.00177346866231588, 0.000217816070307086, -0.000240713988238257,
+         0.000150795563555828, -0.000279246491927943},
+        {7.93661480471297, 1.33902098855997, -0.64010306493848, -0.00307944184518557,
+         -0.00511421127083497, 0.0204008636376403, -9.50042323904954e-05, 6.01530207062221e-05,
+         9.13233708460098e-05, -0.000206717750924323},
+        {16.2658124154565, 0.191301571705827, 1.02390350838635, 0.0258487436355216,
+         -0.0219752092833362, 0.0236916776412211, -0.000350496453661261, -0.000123849795280597,
+         -0.000532190902882765, 9.36018171121253e-05},
+        {-1.53023612303052, 1.29132951637076, 0.181159073530008, -0.0023490608317645,
+         -0.00370741703297037, -0.000229071300377431, -1.6634455407558e-05, 1.11387154630828e-05,
+         1.02609175615251e-05, -9.64717658954667e-06},
+        {-32.9918791079688, 0.093536793089853, 4.76858627395571, 0.0595845684553358,
+         -0.054845749101257, -0.133247382500001, -0.000688999201915199, 7.67286265747961e-05,
+         0.000868163357631254, 0.00120099606910313}};
+    float sus6coeffBeta[9][10] = {
+        {12.7380220453847, -0.6087309901836, 2.60957722462363, -0.0415319939920917,
+         0.0444944768824276, 0.0223231464060241, -0.000421503508733887, -9.39560038638717e-05,
+         0.000821479971871302, -4.5330528329465e-05},
+        {1.96846333975847, -0.33921438143463, 1.23957110477613, -0.00948832495296823,
+         0.00107211134687287, -0.00410820045700199, -9.33679611473279e-05, 3.72984782145427e-05,
+         -4.04514487800062e-05, -7.6296149087237e-05},
+        {5.7454444934481, -1.58476383793609, -0.418479494289251, -0.0985177320630941,
+         -0.0862179276808015, 0.0126762052037897, -0.00118207758271301, -0.000190361442918412,
+         0.0011723869613426, 0.000122882034141316},
+        {2.11042287406433, -0.225942746245056, 1.18084080712528, -0.00103013931607172,
+         -0.00675606790663387, -0.00106646109062746, 1.7708839355979e-05, -3.13642668374253e-05,
+         -5.87601932564404e-05, -3.92033314627704e-05},
+        {2.96049248725882, -0.286261455028255, 1.09122556181319, -0.000672369023155898,
+         0.000574446975796023, 0.000120303729680796, 0.000292285799270644, 0.000170497873487264,
+         0.000259925974231328, 0.000222437797823852},
+        {1.65218061201483, -0.19535446105784, 1.39609640918411, 0.000961524354787167,
+         0.00592400381724333, -0.0078500192096718, -7.02791628080906e-07, -2.07197580883822e-05,
+         -4.33518182614169e-05, 4.66993119419691e-05},
+        {-19.56673237415, 1.06558565338761, 0.151160448373445, -0.0252628659378108,
+         0.0281230551050938, -0.0217328869907185, 0.000241309440918385, -0.000116449585258429,
+         0.000401546410974577, -0.000147563886502726},
+        {1.56167171538684, -0.155299366654736, 1.20084049723279, 0.00457348893890231,
+         0.00118888040006052, 0.0029920178735941, -5.583448120596e-05, -2.34496315691865e-05,
+         -5.3309466243918e-05, 6.20289310356821e-06},
+        {1.95050549495182, -2.74909818412705, 3.80268788018641, 0.0629242254381785,
+         0.0581479035315726, -0.111361283351269, -0.00047845777495158, -0.00075354297736741,
+         -0.000186887396585446, 0.00119710704771344}};
+    float sus7coeffAlpha[9][10] = {
+        {-92.1126183408754, -3.77261746189525, -4.50604668349213, -0.0909560776043523,
+         -0.15646903318971, -0.0766293642415356, -0.00059452135473577, -0.00144790037129283,
+         -0.00119021101127241, -0.000460110780350978},
+        {1.60822506792345, 1.12993931449931, 0.300781032865641, -0.00405149856360946,
+         0.0116663280665617, -0.000746071920075153, -8.36092173253351e-05, 0.000126762041147563,
+         -1.57820750462019e-05, -2.13840141586661e-05},
+        {-151.403952985468, -5.77049222793992, 9.71132757422642, -0.113259116970462,
+         0.284142453949027, -0.198625061659164, -0.000836450164210354, 0.00174062771509636,
+         -0.00323746390757859, 0.00124721932086258},
+        {3.47391964888809, 1.28788318973591, 0.358380140281919, 0.0033863520864927,
+         0.00154601909793475, 0.0103457296050314, -9.56426572270873e-05, 5.48838958555808e-05,
+         2.97537427220847e-05, 0.000104735911514185},
+        {3.32650947866065, 1.16701012685798, 0.293514063672376, -0.00065850791542434,
+         -8.61746510464303e-05, -0.00212038990772211, 0.00010377123197, -0.000262818127593837,
+         0.000103360882478383, -0.000296739688930329},
+        {-0.440176043435378, 1.18923278867097, 0.519516382652818, -0.00138846714677511,
+         0.00266491699926247, -0.014254675949624, -4.20279929822439e-05, -5.49260281515447e-05,
+         -1.00328708454487e-05, 0.000138142092498215},
+        {9.54962966738358, 1.83809145920811, 1.82162819067959, -0.0116786627338505,
+         -0.00496037444422313, 0.0590883547819332, 7.48465315787857e-05, 0.000221693951602584,
+         7.96466345174136e-06, 0.000638822537725177},
+        {7.04862901290925, 0.876813777672465, 0.16368093989381, 0.00928717461441627,
+         -0.00276538956293246, 0.00117995419940653, -0.000141511492474493, -6.09796031786385e-06,
+         -2.62114930414747e-05, -2.88713611443788e-06},
+        {135.349147631811, -7.21933296299596, -6.02379024934871, 0.19557354282067,
+         0.207680233512614, 0.12880101618361, -0.00169832076532024, -0.00192216719797732,
+         -0.00188763612041332, -0.00103101801961442}};
+    float sus7coeffBeta[9][10] = {
+        {-12.7115487367622, -1.08890790360556, 0.0579616268854079, -0.0212303293514951,
+         -0.0395948453851818, -0.0275564242614342, -0.000228652851842222, -0.000148106159109458,
+         -0.000555136649469199, -0.000198260004582737},
+        {-0.988147625946871, -0.759018567468546, 1.20998292002818, -0.0241231836977845,
+         -0.000572110443300516, -0.00294835038249426, -0.00026533039022186, 6.82250069765274e-06,
+         7.21038415209318e-06, -6.54881435118179e-05},
+        {98.0979345921564, 4.27381413621355, -4.39956005193548, 0.0709109587666745,
+         -0.172774236139236, 0.107243391488741, 0.000421832640471043, -0.00140450884710288,
+         0.00158019019392239, -0.00078512547169536},
+        {4.10892685652543, -0.229301778557857, 1.33380992987117, -0.000250095848720304,
+         -0.00555205065514645, 0.00355052914398176, 1.62727119770752e-05, -1.26026527654764e-05,
+         -3.25505031810898e-05, 5.79970895921158e-06},
+        {3.09432502337258, -0.300556003790433, 1.17085811008124, 0.00128679594824324,
+         0.00148229981422985, 9.15267474159147e-05, 0.000300497843413856, 6.31378865575566e-05,
+         0.000258447032558814, 9.79142983264352e-05},
+        {8.92336134924575, -0.197306981784312, 0.659908505354084, 0.00175572239373996,
+         0.006801023678097, 0.0189775987436792, 9.2187857727721e-06, -4.8706332690626e-05,
+         -6.887009887486e-05, -0.000266455617735054},
+        {-52.0734887320227, 2.64822385560272, -1.72387600304694, -0.0383944891609251,
+         0.110873671161269, -0.0475247245070445, 0.000194652401328063, -0.000697307928990137,
+         0.00124021816001, -0.000194213899980878},
+        {2.08203985879155, -0.127503525368396, 1.17628056094647, 0.00283288065938444,
+         0.00394668214608305, 0.00314868636161131, -2.99504350569853e-05, -7.11070816314279e-05,
+         -6.30148122529749e-05, 2.28114298989664e-05},
+        {191.321181158032, -12.2449557187473, -7.21933741885107, 0.267954293388644,
+         0.331529493933124, 0.149867703984027, -0.00222279201444128, -0.00284724570619954,
+         -0.00298774060233964, -0.000988903783752156}};
+    float sus8coeffAlpha[9][10] = {
+        {5.46354311880959, 1.15370126035432, 0.568432485840475, -0.00105094692478431,
+         -0.000472899673842554, 0.015581320536192, 2.26460844314248e-05, -0.000254397947062058,
+         0.000198938007250408, 0.000102026690279006},
+        {8.8976133108173, 1.89502416095352, 0.268670471819199, 0.0217013413241972,
+         0.00973925295182384, -0.00116357269193765, 0.000185865842232419, 0.000103311614912702,
+         -2.46539447920969e-05, -2.06292928734686e-05},
+        {-45.4550803910752, 1.27220123406993, 5.21483855848504, 0.0315791081623634,
+         0.0725172355124129, -0.13947591535243, 0.000412577580637848, 0.000434545096994917,
+         -0.000840043932292312, 0.00126857487044307},
+        {1.81302768546433, 1.20563501267535, 0.344815267182167, 0.00546879453241056,
+         -0.00115382996865884, 0.010597876132341, -7.75885604486581e-05, 8.99568815949154e-05,
+         -2.98129544974679e-06, 0.000108913239345604},
+        {2.19111439539173, 1.06951675598148, 0.283707798607213, 0.00016478588207518,
+         0.000196086067268121, -0.00214980231173703, 0.000237820475654357, -0.000256402967908595,
+         0.000165966620658577, -0.000268394081675921},
+        {15.0858674915897, 1.27922724811168, -1.0803137812576, -0.00184009775302466,
+         -0.00458792284209219, 0.0359393555418547, -6.05121024079603e-05, -1.2288384024143e-05,
+         8.55484605384438e-05, -0.000379241348638065},
+        {-14.9594190080906, 1.79473182195746, -1.00830704063572, 0.000890685410857856,
+         0.0408932029176081, -0.0165460857151619, -0.000170544299916973, -0.000370901607010145,
+         0.000324089709129097, -9.33010240878062e-05},
+        {0.867614491733251, 1.38248194737027, 0.233408537422123, -0.00772942878114575,
+         -0.00783126068079782, -0.000413713955432221, 4.5775750146291e-05, 6.97323029940275e-05,
+         1.70664456940787e-05, 6.75517901233086e-06},
+        {2.34474364146174, -0.777275400251477, 2.09531381577911, 0.0170780716714389,
+         0.102855060371092, -0.1203441505925, 0.000187004964420911, -0.00141720441050986,
+         -0.000336251285258365, 0.00145175125888695}};
+    float sus8coeffBeta[9][10] = {
+        {28.3033101237397, 1.77504446792811, 1.70758838986317, 0.0307800697044683,
+         0.0598759344275936, -0.014461432284373, 0.000128415617799076, 0.000664419128546701,
+         0.000312923304130995, -0.000269026446641855},
+        {7.73040563051023, 0.0267291479555493, 1.16189582308493, 0.000611047892976521,
+         -0.00213680506915073, -0.00517435586596902, -3.60304406049766e-06, -1.74452976404459e-05,
+         -3.95396925228538e-05, -7.01948519410633e-05},
+        {-48.0766126130725, -3.77981206700298, 3.03482861087335, -0.0678496412519532,
+         0.115260678424016, -0.0109681510065038, -0.000438011443691466, 0.00097230136258486,
+         -0.000930875177732769, -0.000203144239955507},
+        {12.1881935626341, -0.234345089308583, 2.01134619426134, 0.000181529284001169,
+         -0.00642848065105061, 0.0243985799415726, 2.0224042581776e-05, 5.22503286757285e-06,
+         -4.75196303016323e-05, 0.000221160482364556},
+        {3.49559433498742, -0.294995112674766, 1.07892379698257, 0.000861664794052587,
+         0.00138978933062055, 0.000436385106465176, 0.000288095124755908, 0.000147259769247883,
+         0.000256686898599516, 0.000198982412957039},
+        {9.36663996178607, -0.171266136751803, 0.799869891484541, -0.000896305696610864,
+         0.00477919972789653, 0.0077876110326094, 9.16475263625076e-06, 3.02461250100473e-05,
+         -3.63917701783264e-05, -0.000101376940843402},
+        {9.93372683055145, 1.02056557854246, 3.01635426591734, -0.0477113881140277,
+         -0.0280426434406976, 0.0438813017696874, 0.000470431190169998, -7.55753674679743e-05,
+         -0.000516444906323815, 0.000253844418223843},
+        {4.12868774589741, -0.305711790187688, 1.15739216407191, 0.00942395115281056,
+         0.00264758462357433, 0.00227985850688479, -0.000107537164019682, -4.91396736189963e-05,
+         -5.3803493814502e-05, 6.80587059728718e-06},
+        {64.9193383444005, -1.57724255547465, -3.82166532626293, 0.0104712238987591,
+         0.0898786950946473, 0.128910456296131, -8.27123227422217e-05, -0.000143979624107479,
+         -0.00146684876653306, -0.00102226799570239}};
+    float sus9coeffAlpha[9][10] = {
+        {65.8975109449121, 2.19115342242175, 6.11069527811832, -0.0219884864133703,
+         0.119985456538482, 0.142746712551924, -0.000465882328687976, 0.000606525132125852,
+         0.00141667074621881, 0.00109715845894006},
+        {5.70337356029945, 1.86705636976809, 0.235584190291708, 0.0194937327615426,
+         0.00973291465247784, -0.00155675297510773, 0.000147099297988423, 0.000115708967219349,
+         -4.1462310493722e-05, -9.80097031103588e-06},
+        {138.221145997284, 6.07665575619595, -9.08085914250542, 0.0839801072927519,
+         -0.143071750033303, 0.237868300719915, 0.000626693630444932, -0.000579788170871402,
+         0.00181740650944343, -0.00207086879728281},
+        {-7.78295582666151, 1.37506685179192, -0.507596181420042, 0.00350118305456038,
+         0.00380814310115541, -0.0174012437563343, -0.000124801268056815, 2.96314830184492e-05,
+         6.3416992450033e-05, -0.000190177262510221},
+        {0.13102597129751, 1.24228303845143, 0.328808873447393, 2.6858679536165e-05,
+         0.000231428138164498, -0.000584089095259736, 5.5322167970451e-05, -0.000322205709821716,
+         7.71348293209208e-05, -0.000393885990364776},
+        {4.64571633968935, 1.2668223691397, -0.158952088650432, -0.0038344859267428,
+         0.0030051503726095, 0.00455578826025588, -9.42520993914957e-05, 5.81633314412289e-05,
+         -4.43545804544095e-05, -4.83524454851519e-05},
+        {99.2385930314563, -3.65569343617926, 5.54203926675588, 0.0975630395981933,
+         -0.15701634159692, 0.107834711298836, -0.000885326636237814, 0.000960753844480462,
+         -0.00179894024848343, 0.000583066757644971},
+        {2.82671549736619, 1.11214198870501, 0.214735318432744, 0.00284415167563662,
+         -0.00743289575690122, 0.000382705440762292, -7.43232442872501e-05, 6.96994098083348e-05,
+         -4.15108111710131e-06, 1.33520085213482e-05},
+        {36.9013743125415, -0.522392401546163, -1.52452843963663, 0.0261375433218879,
+         0.060573568610239, 0.0182582125221054, -0.000244373383911157, -0.000271385147292484,
+         -0.000723799969427732, 6.76324880239196e-05}};
+    float sus9coeffBeta[9][10] = {
+        {128.70886435409, 7.27355509732751, 7.18142203531244, 0.1536100459329, 0.199455846541636,
+         0.101824964939793, 0.00116666116789421, 0.00181595584079788, 0.00159271319494017,
+         0.000556768406475719},
+        {-7.07933839681024, -0.979062424441878, 1.21792546815617, -0.0295740143783226,
+         -0.00442780611714201, -0.00329612819203176, -0.000291373125216143, -7.47259350176359e-05,
+         -4.87265282482212e-05, -7.87490350444332e-05},
+        {41.1357193180502, 2.75138456414254, -0.0160889117718198, 0.0274001112562423,
+         -0.145644717742057, -0.0316076203283094, -0.000136443337244472, -0.00153945199081365,
+         0.000938960439977633, 0.000599987111822885},
+        {2.7980384746608, -0.234741037383589, 1.5342193016705, -0.000993791566721689,
+         -0.00787533639513478, 0.00927468655141365, 2.63308697896639e-05, -3.42816267184975e-05,
+         -8.48879419798771e-05, 3.84043821333798e-05},
+        {0.427687530667804, -0.346076633694936, 1.22968527483851, -4.95098138311122e-05,
+         0.000298245372198029, 0.000332756250024796, 0.00040375986210644, 5.20675972504572e-05,
+         0.000327042170278218, 5.93011568264671e-05},
+        {4.50337810133314, -0.279364254817202, 0.945812187846199, 0.000116182663432306,
+         0.0115646046622083, 0.00908289960302886, 1.90394667311541e-05, -4.4360223646434e-06,
+         -0.000131398914898614, -0.000145568992865512},
+        {-36.3377213654193, 2.21047221783626, 0.0609982245149821, -0.0670546774988572,
+         0.016827777144747, -0.0277834084058314, 0.000778301409125556, 0.000135846745194401,
+         0.00043261858797068, -0.00021172728254561},
+        {-0.737678205841529, -0.217352122193475, 1.23494846329297, 0.00748173441779792,
+         0.0019595873704705, 0.00567253723266176, -8.34768773292938e-05, -3.50608394184873e-05,
+         -0.000107500091550635, -5.1379722947632e-07},
+        {-36.6150844777671, 3.24952006904945, 1.7222457840185, -0.0846362445435584,
+         -0.0625549615377418, 0.019178365782485, 0.000664877496455304, 0.000942971403881222,
+         0.000190754698755098, -0.000372226659190439}};
+    float sus10coeffAlpha[9][10] = {
+        {14.4562393748324, 0.669162330324919, 2.13895255446541, -0.0161997097021299,
+         0.00185995785065838, 0.0621351118528379, -0.000278999272493087, 0.000238469666491965,
+         -0.000279407497782961, 0.000726904943739837},
+        {-4.45678285887022, 0.92869611919737, 0.186752102727282, -0.00706160758952316,
+         0.00532680276723634, -0.00119102617674229, -0.000105283880098953, 3.90673052334419e-05,
+         -3.13338277344246e-05, 5.32977236959767e-06},
+        {30.4255268053197, 3.00991076401191, -1.4855621363519, 0.033934286288413,
+         -0.0553588742704929, 0.0299275582316466, 0.000167915322354466, -0.00050925078118232,
+         0.000463662961330962, -0.000232919143454163},
+        {2.45076465343337, 1.30206564388838, 0.635121046212765, 0.00517109639797675,
+         0.00360579544364496, 0.0198490668911362, -9.31556816982662e-05, 6.7313653707875e-05,
+         6.4669137025142e-05, 0.000209727581169138},
+        {-0.784841314851562, 1.10058314980836, 0.314063830836532, 0.000583003703415889,
+         0.000312635453606579, -0.000183738114552387, 0.000214096205760617, -0.000286744686021244,
+         0.000159157597180407, -0.00032235099420715},
+        {7.19568036510586, 1.33307479701657, -0.465585141952456, -0.0031910726544199,
+         -0.00546273504371797, 0.0145494754402526, -7.9863949693769e-05, 4.83681329120104e-05,
+         8.85844309936609e-05, -0.000143217870916994},
+        {-12.8344546267449, 1.36023633150143, -0.728527724854506, 0.019982118403416,
+         0.0385056413989437, -0.00468598272326268, -0.000303957957649245, -6.37783846968216e-05,
+         0.000514049116643205, 0.000112015427600697},
+        {-2.58279031298065, 1.42167821629586, 0.208769467511292, -0.00640190372145885,
+         -0.0056405289717473, 0.000509611313918708, 2.23310562107823e-05, 3.23685469522147e-05,
+         -7.55982776243849e-06, 2.78417756661088e-06},
+        {-29.7178996143914, 2.636972251183, 1.97316329325243, -0.03983524158327,
+         -0.0193152048730234, -0.0600902798379509, 0.00031786916010672, 0.000162178988605602,
+         0.000224550786416246, 0.000614337977361927}};
+    float sus10coeffBeta[9][10] = {
+        {12.4771349792459, 1.44317849705414, 0.975637226331561, 0.0430284146301043,
+         0.0220810531548995, -0.0220926906772, 0.000310052324529521, 0.000658151808869523,
+         -0.000288026365111098, -0.000214619731807045},
+        {-0.113203260140131, -0.272424061092191, 1.27704377191184, -0.00791746619331075,
+         0.00278646694862191, -0.00398881099259934, -8.09569694307212e-05, 5.99617384829016e-05,
+         -5.4550919751855e-05, -8.6314530565085e-05},
+        {-48.585664295448, -2.04899787231903, 4.48757129623549, -0.0226180460431321,
+         0.090326735447661, -0.0722998813632622, -6.77623771415477e-05, 0.000562585419036509,
+         -0.000956171370931993, 0.000491554402311223},
+        {-1.20986884955482, -0.215604107185474, 1.22123198786617, 0.000256508527822089,
+         -0.00625056735692847, 0.00262961582224303, 2.27433984698861e-05, 1.60471509861372e-05,
+         -4.85061736834262e-05, -1.8387092782907e-06},
+        {-0.250205907903409, -0.315819331560782, 1.09018364376391, -0.000521787614293089,
+         -0.000500747760913489, 2.48184307342838e-05, 0.000313799238640988, 0.000136669146368744,
+         0.000278914324565192, 0.000218512838469476},
+        {-1.38512578184076, -0.240456589364121, 1.34170304231345, 0.00017499230372669,
+         0.0070862275911073, -0.00460640844814105, 1.27594111036696e-05, -4.73855624902052e-06,
+         -5.41141037812903e-05, 8.50767021818388e-06},
+        {58.9917559342216, -2.28705697628345, 5.35995190407842, 0.0214721399750612,
+         -0.112195722921667, 0.0890150265857542, -0.000100675657768708, 0.000493488022135339,
+         -0.00137672908303878, 0.000518683157694955},
+        {3.18905073365834, -0.633376549706314, 1.17190259811174, 0.0188817945597344,
+         0.00107470708915782, 0.00400880471375267, -0.000197312295539118, -2.46543035998379e-05,
+         -6.07871064300252e-05, 1.91822310311955e-05},
+        {-21.6881499304099, -0.563186103920008, 3.70747028664292, 0.021112883967427,
+         -0.00650020689049325, -0.0778533644688476, -0.000131921888670268, -0.000402754836445439,
+         0.000551249824375055, 0.00062236627391337}};
+    float sus11coeffAlpha[9][10] = {
+        {-5.23569698615548, -1.45500092391928, 2.7643243644756, -0.0762912296128707,
+         -0.0201645929971608, 0.0997226845779083, -0.000741669441569556, -0.000485368004931528,
+         0.000166230212359982, 0.00103455037278067},
+        {-7.7405077383712, 0.892040861541276, 0.39014957203484, -0.00952030929935314,
+         0.0185577462685363, 0.000500600568760257, -0.000151227821554572, 0.000245334737283439,
+         1.89380065823205e-05, 1.83481122973969e-07},
+        {-27.462143709831, -1.68192474287299, 0.689411302961069, -0.0146021086710062,
+         0.227153492753605, 0.0815806579791421, 2.92919049429149e-05, 0.00153760357651792,
+         -0.00247865821192621, -0.00166333309739387},
+        {-6.74664748624368, 1.43279156053015, 0.0212787292914553, 0.00764792230365732,
+         0.00796410301290615, 0.0014384998868733, -8.95239151813685e-05, 9.55245417090909e-05,
+         0.000127251739461239, 3.26943341606363e-05},
+        {-2.20391533717674, 1.32902400478083, 0.38633027011889, 0.00104660852197061,
+         0.00105228824412283, -0.00242067551428214, -6.98346290136652e-05, -0.000369075232184835,
+         -1.59510520000704e-05, -0.000448565104826966},
+        {-5.29476778147188, 1.4549556336236, 0.561334186252557, -0.00260896342687109,
+         -0.00855934179001141, -0.0182515354646452, -8.79385828606048e-05, 5.98357681659175e-05,
+         0.000146570207542509, 0.000201596912834554},
+        {-45.7906613832612, 3.77630104475902, -1.67494598155515, -0.0545433897761635,
+         0.047897938410221, -0.0355687158405231, 0.000374738707508583, -0.000448453494537518,
+         0.000377784972619365, -0.000276573228333836},
+        {-9.11681182090372, 2.06933872940742, 0.26131496122122, -0.0259534033367855,
+         -0.00777266937872862, -0.00262135395843891, 0.000223790782655445, 6.40488537928934e-05,
+         7.75581514100296e-05, -9.25934285039627e-06},
+        {183.243883340634, -8.02281039502717, -10.0756951652703, 0.168750521462303,
+         0.314006821405967, 0.200264755034566, -0.0011895153717447, -0.00253812476819896,
+         -0.00291324393641628, -0.00140062522117514}};
+    float sus11coeffBeta[9][10] = {
+        {34.4499366074013, -0.438583698052091, 4.72111001451028, -0.041810050989433,
+         0.0562461093661426, 0.0856849892524893, -0.000477813051406167, -3.16404257494464e-05,
+         0.00102633196865105, 0.000552974013759876},
+        {7.6366298088699, 0.150314752958302, 1.31364679484924, 0.00557696667395871,
+         0.00163731860604376, -0.00454759608980269, 5.83979683674572e-05, 4.45944881220665e-05,
+         -4.27874746147066e-05, -8.77418673597557e-05},
+        {130.156215011893, 1.85759000444524, -10.986892391833, -0.00686275191260681,
+         -0.188837138116058, 0.346177462085361, -0.000183276946352264, -0.000702183496893294,
+         0.00293145272693857, -0.00318194442670715},
+        {-1.67854820161036, -0.358899332859806, 0.956690839640595, -4.93862910503803e-05,
+         -0.0136134783014874, -0.00848731301504507, 3.75950499927045e-05, 1.35374694383289e-06,
+         -0.000156596507890443, -0.000123254220377897},
+        {3.67569209537767, -0.387260959713287, 1.31343215605952, -0.00206444615206506,
+         0.00145334813110285, -0.00151259497696238, 0.000449492568365603, 6.95883968949488e-07,
+         0.000368585523744765, -6.3420715525635e-05},
+        {14.3296323024886, -0.182979476956897, 0.306817119309235, -0.00022212115978293,
+         0.00463485302909649, 0.0277574953550035, 1.1422454625565e-05, 1.06053257479502e-05,
+         -2.05720000720608e-05, -0.000338584671430337},
+        {-18.7534921817754, 1.14272710923224, 0.460498062012866, -0.00995826989278202,
+         0.0658502318647112, 0.00616942819937029, -7.70857153768402e-05, -0.000641755741925561,
+         0.00047849204592989, 0.000158509018296766},
+        {1.26543621388607, -0.176674379740481, 1.38814920935488, 0.00545485262295305,
+         -0.00499775616702264, 0.0038057039142173, -6.59604252054511e-05, 6.40211116049053e-05,
+         -6.74778593434431e-05, -2.81973589469059e-05},
+        {116.975421945286, -5.53022680362263, -5.61081660666997, 0.109754904982136,
+         0.167666815691513, 0.163137400730063, -0.000609874123906977, -0.00205336098697513,
+         -0.000889232196185857, -0.00168429567131815}};
+
+    float filterAlpha;
+    float sunThresh;
+  } susHandlingParameters;
+
+  struct GyrHandlingParameters {
+    double gyr0orientationMatrix[3][3] = {{0, 0, -1}, {0, -1, 0}, {-1, 0, 0}};
+    double gyr1orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
+    double gyr2orientationMatrix[3][3] = {{0, 0, -1}, {0, -1, 0}, {-1, 0, 0}};
+    double gyr3orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
+    // var = sqrt(sigma), sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
+    // assumed to be equal for the same class of sensors
+    float gyr02variance[3] = {pow(3.0e-3 * sqrt(2), 2),   // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
+                              pow(3.0e-3 * sqrt(2), 2),   // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
+                              pow(4.3e-3 * sqrt(2), 2)};  // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
+    float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
+    enum PreferAdis { NO = 0, YES = 1 };
+    uint8_t preferAdis = PreferAdis::YES;
+  } gyrHandlingParameters;
+
+  struct RwHandlingParameters {
+    double rw0orientationMatrix[3][3];
+    double rw1orientationMatrix[3][3];
+    double rw2orientationMatrix[3][3];
+    double rw3orientationMatrix[3][3];
+    double inertiaWheel = 0.000028198;
+    double maxTrq = 0.0032;  // 3.2 [mNm]
+  } rwHandlingParameters;
+
+  struct RwMatrices {
+    double alignmentMatrix[3][4] = {{0.9205, 0.0000, -0.9205, 0.0000},
+                                    {0.0000, -0.9205, 0.0000, 0.9205},
+                                    {0.3907, 0.3907, 0.3907, 0.3907}};
+    double pseudoInverse[4][3] = {{0.4434, -0.2845, 0.3597},
+                                  {0.2136, -0.3317, 1.0123},
+                                  {-0.8672, -0.1406, 0.1778},
+                                  {0.6426, 0.4794, 1.3603}};
+    double without0[4][3];
+    double without1[4][3];
+    double without2[4][3];
+    double without3[4][3];
+    double nullspace[4] = {-0.7358, 0.5469, -0.3637, -0.1649};
+  } rwMatrices;
+
+  struct SafeModeControllerParameters {
+    double k_rate_mekf = 0.00059437;
+    double k_align_mekf = 0.000056875;
+
+    double k_rate_no_mekf;
+    double k_align_no_mekf;
+    double sunMagAngleMin;
+
+    double sunTargetDir[3] = {1, 0, 0};  // Body frame
+    double satRateRef[3];                // Body frame
+
+  } safeModeControllerParameters;
+
+  struct DetumbleCtrlParameters {
+    double gainD = pow(10.0, -3.3);
+
+  } detumbleCtrlParameters;
+
+  // ToDo: mutiple structs for different pointing mode controllers?
+  struct PointingModeControllerParameters {
+    double updtFlag;
+    double A_rw[3][12];
+
+    double refDirection[3] = {1, 0, 0};
+    double refRotRate[3] = {0, 0, 0};
+    double quatRef[4] = {0, 0, 0, 1};
+    bool avoidBlindStr = true;
+    double blindAvoidStart = 1.5;
+    double blindAvoidStop = 2.5;
+    double blindRotRate = 1 * M_PI / 180;
+
+    double zeta = 0.3;
+    double zetaLow;
+    double om = 0.3;
+    double omLow;
+    double omMax = 1 * M_PI / 180;
+    double qiMin = 0.1;
+    double gainNullspace = 0.01;
+
+    double desatMomentumRef[3] = {0, 0, 0};
+    double deSatGainFactor = 1000;
+    bool desatOn = true;
+
+    double omegaEarth = 0.000072921158553;
+
+  } inertialModeControllerParameters, nadirModeControllerParameters, targetModeControllerParameters;
+
+  struct StrParameters {
+    double exclusionAngle = 20 * M_PI / 180;
+    //		double strOrientationMatrix[3][3];
+    double boresightAxis[3] = {0.7593, 0.0000, -0.6508};  // in body/geometry frame
+  } strParameters;
+
+  struct GpsParameters {
+  } gpsParameters;
+
+  struct GroundStationParameters {
+    double latitudeGs = 48.7495 * M_PI / 180.;   // [rad] Latitude
+    double longitudeGs = 9.10384 * M_PI / 180.;  // [rad] Longitude
+    double altitudeGs = 500;                     // [m] Altitude
+    double earthRadiusEquat = 6378137;           // [m]
+    double earthRadiusPolar = 6356752.314;       // [m]
+  } groundStationParameters;                     // Stuttgart
+
+  struct SunModelParameters {
+    enum UseSunModel { NO = 0, YES = 3 };
+    uint8_t useSunModel;
+    float domega = 36000.771;
+    float omega_0 = 282.94 * M_PI / 180.;  // RAAN plus argument of perigee
+    float m_0 = 357.5256;                  // coefficients for mean anomaly
+    float dm = 35999.049;                  // coefficients for mean anomaly
+    float e = 23.4392911 * M_PI / 180.;    // angle of earth's rotation axis
+    float e1 = 0.74508 * M_PI / 180.;
+
+    float p1 = 6892. / 3600. * M_PI / 180.;  // some parameter
+    float p2 = 72. / 3600. * M_PI / 180.;    // some parameter
+  } sunModelParameters;
+
+  struct KalmanFilterParameters {
+    uint8_t activateKalmanFilter;
+    uint8_t requestResetFlag;
+    double maxToleratedTimeBetweenKalmanFilterExecutionSteps;
+    double processNoiseOmega[3];
+    double processNoiseQuaternion[4];
+
+    double sensorNoiseSTR = 0.1 * M_PI / 180;
+    double sensorNoiseSS = 8 * M_PI / 180;
+    double sensorNoiseMAG = 4 * M_PI / 180;
+    double sensorNoiseRMU[3];
+
+    double sensorNoiseArwRmu;  // Angular Random Walk
+    double sensorNoiseBsRMU;   // Bias Stability
+  } kalmanFilterParameters;
+
+  struct MagnetorquesParameter {
+    double mtq0orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}};
+    double mtq1orientationMatrix[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+    double mtq2orientationMatrix[3][3] = {{0, 0, 1}, {0, 1, 0}, {-1, 0, 0}};
+    double alignmentMatrixMtq[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
+    double inverseAlignment[3][3] = {{0, -1, 0}, {0, 0, 1}, {-1, 0, 0}};
+    double DipolMax = 0.2;  // [Am^2]
+
+  } magnetorquesParameter;
+
+  struct DetumbleParameter {
+    uint8_t detumblecounter = 75;  // 30 s
+    double omegaDetumbleStart = 2 * M_PI / 180;
+    double omegaDetumbleEnd = 0.4 * M_PI / 180;
+    double gainD = pow(10.0, -3.3);
+  } detumbleParameter;
+};
+
+#endif /* ACSPARAMETERS_H_ */

mission/controller/acs/ActuatorCmd.cpp

@@ -0,0 +1,74 @@
+/*
+ * ActuatorCmd.cpp
+ *
+ *  Created on: 4 Aug 2022
+ *      Author: Robin Marquardt
+ */
+
+#include "ActuatorCmd.h"
+
+#include <fsfw/globalfunctions/constants.h>
+#include <fsfw/globalfunctions/math/MatrixOperations.h>
+#include <fsfw/globalfunctions/math/QuaternionOperations.h>
+#include <fsfw/globalfunctions/math/VectorOperations.h>
+
+#include <cmath>
+
+#include "util/CholeskyDecomposition.h"
+#include "util/MathOperations.h"
+
+ActuatorCmd::ActuatorCmd(AcsParameters *acsParameters_) { acsParameters = *acsParameters_; }
+
+ActuatorCmd::~ActuatorCmd() {}
+
+void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1,
+                                const int32_t *speedRw2, const int32_t *speedRw3,
+                                const double *rwTrqIn, const double *rwTrqNS, double *rwCmdSpeed) {
+  using namespace Math;
+  // Scaling the commanded torque to a maximum value
+  double torque[4] = {0, 0, 0, 0};
+  double maxTrq = acsParameters.rwHandlingParameters.maxTrq;
+  VectorOperations<double>::add(rwTrqIn, rwTrqNS, torque, 4);
+
+  double maxValue = 0;
+  for (int i = 0; i < 4; i++) {  // size of torque, always 4 ?
+    if (abs(torque[i]) > maxValue) {
+      maxValue = abs(torque[i]);
+    }
+  }
+
+  if (maxValue > maxTrq) {
+    double scalingFactor = maxTrq / maxValue;
+    VectorOperations<double>::mulScalar(torque, scalingFactor, torque, 4);
+  }
+
+  // Calculating the commanded speed in RPM for every reaction wheel
+  double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
+  double deltaSpeed[4] = {0, 0, 0, 0};
+  double commandTime = acsParameters.onBoardParams.sampleTime,
+         inertiaWheel = acsParameters.rwHandlingParameters.inertiaWheel;
+  double radToRpm = 60 / (2 * PI);  // factor for conversion to RPM
+  //	 W_RW = Torque_RW / I_RW * delta t [rad/s]
+  double factor = commandTime / inertiaWheel * radToRpm;
+  VectorOperations<double>::mulScalar(torque, factor, deltaSpeed, 4);
+  VectorOperations<double>::add(speedRws, deltaSpeed, rwCmdSpeed, 4);
+}
+
+void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits) {
+  //	Convert to Unit frame
+  MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
+                                     dipolMoment, dipolMomentUnits, 3, 3, 1);
+  //  Scaling along largest element if dipol exceeds maximum
+  double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
+  double maxValue = 0;
+  for (int i = 0; i < 3; i++) {
+    if (abs(dipolMomentUnits[i]) > maxDipol) {
+      maxValue = abs(dipolMomentUnits[i]);
+    }
+  }
+
+  if (maxValue > maxDipol) {
+    double scalingFactor = maxDipol / maxValue;
+    VectorOperations<double>::mulScalar(dipolMomentUnits, scalingFactor, dipolMomentUnits, 3);
+  }
+}

mission/controller/acs/ActuatorCmd.h

@@ -0,0 +1,47 @@
+/*
+ * ActuatorCmd.h
+ *
+ *  Created on: 4 Aug 2022
+ *      Author: Robin Marquardt
+ */
+
+#ifndef ACTUATORCMD_H_
+#define ACTUATORCMD_H_
+
+#include "AcsParameters.h"
+#include "MultiplicativeKalmanFilter.h"
+#include "SensorProcessing.h"
+#include "SensorValues.h"
+
+class ActuatorCmd {
+ public:
+  ActuatorCmd(AcsParameters *acsParameters_);  // Input mode ?
+  virtual ~ActuatorCmd();
+
+  /*
+   * @brief:	cmdSpeedToRws()		will set the maximum possible torque for the reaction
+   * wheels, also will calculate the needed revolutions per minute for the RWs, which will be given
+   * as Input to the RWs
+   * @param:	rwTrqIn 			given torque from pointing controller
+   * 			rwTrqNS				Nullspace torque
+   * 			rwCmdSpeed			output revolutions per minute for every
+   * reaction wheel
+   */
+  void cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
+                     const int32_t *speedRw3, const double *rwTrqIn, const double *rwTrqNS,
+                     double *rwCmdSpeed);
+
+  /*
+   * @brief:	cmdDipolMtq()		gives the commanded dipol moment for the magnetorques
+   *
+   * @param:	dipolMoment 		given dipol moment in spacecraft frame
+   * 			dipolMomentUnits	resulting dipol moment for every unit
+   */
+  void cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits);
+
+ protected:
+ private:
+  AcsParameters acsParameters;
+};
+
+#endif /* ACTUATORCMD_H_ */

mission/controller/acs/CMakeLists.txt

@@ -0,0 +1,13 @@
+target_sources(
+  ${LIB_EIVE_MISSION}
+  PRIVATE AcsParameters.cpp
+          ActuatorCmd.cpp
+          Guidance.cpp
+          Igrf13Model.cpp
+          MultiplicativeKalmanFilter.cpp
+          Navigation.cpp
+          SensorProcessing.cpp
+          SensorValues.cpp
+          SusConverter.cpp)
+
+add_subdirectory(control)

mission/controller/acs/Guidance.cpp

@@ -0,0 +1,317 @@
+/*
+ * Guidance.cpp
+ *
+ *  Created on: 6 Jun 2022
+ *      Author: Robin Marquardt
+ */
+
+#include "Guidance.h"
+
+#include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/globalfunctions/math/MatrixOperations.h>
+#include <fsfw/globalfunctions/math/QuaternionOperations.h>
+#include <fsfw/globalfunctions/math/VectorOperations.h>
+#include <math.h>
+
+#include "string.h"
+#include "util/CholeskyDecomposition.h"
+#include "util/MathOperations.h"
+
+Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = *acsParameters_; }
+
+Guidance::~Guidance() {}
+
+void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3]) {
+  for (int i = 0; i < 3; i++) {
+    sunTargetSafe[i] = acsParameters.safeModeControllerParameters.sunTargetDir[i];
+    satRateSafe[i] = acsParameters.safeModeControllerParameters.satRateRef[i];
+  }
+
+  //	memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDir, 24);
+}
+
+void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+                             acsctrl::SusDataProcessed *susDataProcessed, timeval now,
+                             double targetQuat[4], double refSatRate[3]) {
+  //-------------------------------------------------------------------------------------
+  //	Calculation of target quaternion to groundstation
+  //-------------------------------------------------------------------------------------
+  //	Transform longitude, latitude and altitude of groundstation to cartesian coordiantes (earth
+  // fixed/centered frame)
+  double groundStationCart[3] = {0, 0, 0};
+
+  MathOperations<double>::cartesianFromLatLongAlt(acsParameters.groundStationParameters.latitudeGs,
+                                                  acsParameters.groundStationParameters.longitudeGs,
+                                                  acsParameters.groundStationParameters.altitudeGs,
+                                                  groundStationCart);
+
+  //	Position of the satellite in the earth/fixed frame via GPS
+  double posSatE[3] = {0, 0, 0};
+  MathOperations<double>::cartesianFromLatLongAlt(sensorValues->gpsSet.latitude.value,
+                                                  sensorValues->gpsSet.longitude.value,
+                                                  sensorValues->gpsSet.altitude.value, posSatE);
+
+  //	Target direction in the ECEF frame
+  double targetDirE[3] = {0, 0, 0};
+  VectorOperations<double>::subtract(groundStationCart, posSatE, targetDirE, 3);
+
+  //	Transformation between ECEF and IJK frame
+  double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::dcmEJ(now, *dcmEJ);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
+  //	Derivative of dmcEJ WITHOUT PRECISSION AND NUTATION
+  double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmDot[3][3] = {{0, 1, 0}, {-1, 0, 0}, {0, 0, 0}};
+  double omegaEarth = acsParameters.targetModeControllerParameters.omegaEarth;
+
+  //	TEST SECTION !
+  // double dcmTEST[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  // MatrixOperations<double>::multiply(&acsParameters.magnetorquesParameter.mtq0orientationMatrix,
+  // dcmTEST, dcmTEST, 3, 3, 3);
+
+  MatrixOperations<double>::multiply(*dcmDot, *dcmEJ, *dcmEJDot, 3, 3, 3);
+  MatrixOperations<double>::multiplyScalar(*dcmEJDot, omegaEarth, *dcmEJDot, 3, 3);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
+
+  //	Transformation between ECEF and Body frame
+  double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double quatBJ[4] = {0, 0, 0, 0};
+  std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
+
+  QuaternionOperations::toDcm(quatBJ, dcmBJ);
+  MatrixOperations<double>::multiply(*dcmBJ, *dcmJE, *dcmBE, 3, 3, 3);
+
+  //	Target Direction in the body frame
+  double targetDirB[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
+
+  //	rotation quaternion from two vectors
+  double refDir[3] = {0, 0, 0};
+  refDir[0] = acsParameters.targetModeControllerParameters.refDirection[0];
+  refDir[1] = acsParameters.targetModeControllerParameters.refDirection[1];
+  refDir[2] = acsParameters.targetModeControllerParameters.refDirection[2];
+  double noramlizedTargetDirB[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
+  VectorOperations<double>::normalize(refDir, refDir, 3);
+  double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
+  double normRefDir = VectorOperations<double>::norm(refDir, 3);
+  double crossDir[3] = {0, 0, 0};
+  double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
+  VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
+  targetQuat[0] = crossDir[0];
+  targetQuat[1] = crossDir[1];
+  targetQuat[2] = crossDir[2];
+  targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
+  VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
+
+  //-------------------------------------------------------------------------------------
+  //	Calculation of reference rotation rate
+  //-------------------------------------------------------------------------------------
+  double velSatE[3] = {0, 0, 0};
+  velSatE[0] = 0.0;  // sensorValues->gps0Velocity[0];
+  velSatE[1] = 0.0;  // sensorValues->gps0Velocity[1];
+  velSatE[2] = 0.0;  // sensorValues->gps0Velocity[2];
+  double velSatB[3] = {0, 0, 0}, velSatBPart1[3] = {0, 0, 0}, velSatBPart2[3] = {0, 0, 0};
+  //	Velocity: v_B = dcm_BI * dcmIE * v_E + dcm_BI * DotDcm_IE * v_E
+  MatrixOperations<double>::multiply(*dcmBE, velSatE, velSatBPart1, 3, 3, 1);
+  double dcmBEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MatrixOperations<double>::multiply(*dcmBJ, *dcmJEDot, *dcmBEDot, 3, 3, 3);
+  MatrixOperations<double>::multiply(*dcmBEDot, posSatE, velSatBPart2, 3, 3, 1);
+  VectorOperations<double>::add(velSatBPart1, velSatBPart2, velSatB, 3);
+
+  double normVelSatB = VectorOperations<double>::norm(velSatB, 3);
+  double normRefSatRate = normVelSatB / normTargetDirB;
+
+  double satRateDir[3] = {0, 0, 0};
+  VectorOperations<double>::cross(velSatB, targetDirB, satRateDir);
+  VectorOperations<double>::normalize(satRateDir, satRateDir, 3);
+  VectorOperations<double>::mulScalar(satRateDir, normRefSatRate, refSatRate, 3);
+
+  //-------------------------------------------------------------------------------------
+  //	Calculation of reference rotation rate in case of star tracker blinding
+  //-------------------------------------------------------------------------------------
+  if (acsParameters.targetModeControllerParameters.avoidBlindStr) {
+    double sunDirJ[3] = {0, 0, 0};
+    double sunDirB[3] = {0, 0, 0};
+
+    if (susDataProcessed->sunIjkModel.isValid()) {
+      std::memcpy(sunDirJ, susDataProcessed->sunIjkModel.value, 3 * sizeof(double));
+      MatrixOperations<double>::multiply(*dcmBJ, sunDirJ, sunDirB, 3, 3, 1);
+    } else {
+      std::memcpy(sunDirB, susDataProcessed->susVecTot.value, 3 * sizeof(double));
+    }
+
+    double exclAngle = acsParameters.strParameters.exclusionAngle,
+           blindStart = acsParameters.targetModeControllerParameters.blindAvoidStart,
+           blindEnd = acsParameters.targetModeControllerParameters.blindAvoidStop;
+    double sightAngleSun =
+        VectorOperations<double>::dot(acsParameters.strParameters.boresightAxis, sunDirB);
+
+    if (!(strBlindAvoidFlag)) {
+      double critSightAngle = blindStart * exclAngle;
+
+      if (sightAngleSun < critSightAngle) {
+        strBlindAvoidFlag = true;
+      }
+
+    }
+
+    else {
+      if (sightAngleSun < blindEnd * exclAngle) {
+        double normBlindRefRate = acsParameters.targetModeControllerParameters.blindRotRate;
+        double blindRefRate[3] = {0, 0, 0};
+
+        if (sunDirB[1] < 0) {
+          blindRefRate[0] = normBlindRefRate;
+          blindRefRate[1] = 0;
+          blindRefRate[2] = 0;
+        } else {
+          blindRefRate[0] = -normBlindRefRate;
+          blindRefRate[1] = 0;
+          blindRefRate[2] = 0;
+        }
+
+        VectorOperations<double>::add(blindRefRate, refSatRate, refSatRate, 3);
+
+      } else {
+        strBlindAvoidFlag = false;
+      }
+    }
+  }
+}
+
+void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double refSatRate[3],
+                          double quatErrorComplete[4], double quatError[3], double deltaRate[3]) {
+  double quatRef[4] = {0, 0, 0, 0};
+  quatRef[0] = acsParameters.targetModeControllerParameters.quatRef[0];
+  quatRef[1] = acsParameters.targetModeControllerParameters.quatRef[1];
+  quatRef[2] = acsParameters.targetModeControllerParameters.quatRef[2];
+  quatRef[3] = acsParameters.targetModeControllerParameters.quatRef[3];
+
+  double satRate[3] = {0, 0, 0};
+  std::memcpy(satRate, mekfData->satRotRateMekf.value, 3 * sizeof(double));
+  VectorOperations<double>::subtract(satRate, refSatRate, deltaRate, 3);
+  // valid checks ?
+  double quatErrorMtx[4][4] = {{quatRef[3], quatRef[2], -quatRef[1], -quatRef[0]},
+                               {-quatRef[2], quatRef[3], quatRef[0], -quatRef[1]},
+                               {quatRef[1], -quatRef[0], quatRef[3], -quatRef[2]},
+                               {quatRef[0], -quatRef[1], quatRef[2], quatRef[3]}};
+
+  MatrixOperations<double>::multiply(*quatErrorMtx, targetQuat, quatErrorComplete, 4, 4, 1);
+
+  if (quatErrorComplete[3] < 0) {
+    quatErrorComplete[3] *= -1;
+  }
+
+  quatError[0] = quatErrorComplete[0];
+  quatError[1] = quatErrorComplete[1];
+  quatError[2] = quatErrorComplete[2];
+
+  // target flag in matlab, importance, does look like it only gives
+  //	feedback if pointing control is under 150 arcsec ??
+}
+
+void Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv) {
+  if (sensorValues->rw1Set.isValid() && sensorValues->rw2Set.isValid() &&
+      sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
+    rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
+    rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
+    rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];
+    rwPseudoInv[3] = acsParameters.rwMatrices.pseudoInverse[1][0];
+    rwPseudoInv[4] = acsParameters.rwMatrices.pseudoInverse[1][1];
+    rwPseudoInv[5] = acsParameters.rwMatrices.pseudoInverse[1][2];
+    rwPseudoInv[6] = acsParameters.rwMatrices.pseudoInverse[2][0];
+    rwPseudoInv[7] = acsParameters.rwMatrices.pseudoInverse[2][1];
+    rwPseudoInv[8] = acsParameters.rwMatrices.pseudoInverse[2][2];
+    rwPseudoInv[9] = acsParameters.rwMatrices.pseudoInverse[3][0];
+    rwPseudoInv[10] = acsParameters.rwMatrices.pseudoInverse[3][1];
+    rwPseudoInv[11] = acsParameters.rwMatrices.pseudoInverse[3][2];
+
+  }
+
+  else if (!(sensorValues->rw1Set.isValid()) && sensorValues->rw2Set.isValid() &&
+           sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
+    rwPseudoInv[0] = acsParameters.rwMatrices.without0[0][0];
+    rwPseudoInv[1] = acsParameters.rwMatrices.without0[0][1];
+    rwPseudoInv[2] = acsParameters.rwMatrices.without0[0][2];
+    rwPseudoInv[3] = acsParameters.rwMatrices.without0[1][0];
+    rwPseudoInv[4] = acsParameters.rwMatrices.without0[1][1];
+    rwPseudoInv[5] = acsParameters.rwMatrices.without0[1][2];
+    rwPseudoInv[6] = acsParameters.rwMatrices.without0[2][0];
+    rwPseudoInv[7] = acsParameters.rwMatrices.without0[2][1];
+    rwPseudoInv[8] = acsParameters.rwMatrices.without0[2][2];
+    rwPseudoInv[9] = acsParameters.rwMatrices.without0[3][0];
+    rwPseudoInv[10] = acsParameters.rwMatrices.without0[3][1];
+    rwPseudoInv[11] = acsParameters.rwMatrices.without0[3][2];
+  }
+
+  else if ((sensorValues->rw1Set.isValid()) && !(sensorValues->rw2Set.isValid()) &&
+           sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
+    rwPseudoInv[0] = acsParameters.rwMatrices.without1[0][0];
+    rwPseudoInv[1] = acsParameters.rwMatrices.without1[0][1];
+    rwPseudoInv[2] = acsParameters.rwMatrices.without1[0][2];
+    rwPseudoInv[3] = acsParameters.rwMatrices.without1[1][0];
+    rwPseudoInv[4] = acsParameters.rwMatrices.without1[1][1];
+    rwPseudoInv[5] = acsParameters.rwMatrices.without1[1][2];
+    rwPseudoInv[6] = acsParameters.rwMatrices.without1[2][0];
+    rwPseudoInv[7] = acsParameters.rwMatrices.without1[2][1];
+    rwPseudoInv[8] = acsParameters.rwMatrices.without1[2][2];
+    rwPseudoInv[9] = acsParameters.rwMatrices.without1[3][0];
+    rwPseudoInv[10] = acsParameters.rwMatrices.without1[3][1];
+    rwPseudoInv[11] = acsParameters.rwMatrices.without1[3][2];
+  }
+
+  else if ((sensorValues->rw1Set.isValid()) && (sensorValues->rw2Set.isValid()) &&
+           !(sensorValues->rw3Set.isValid()) && sensorValues->rw4Set.isValid()) {
+    rwPseudoInv[0] = acsParameters.rwMatrices.without2[0][0];
+    rwPseudoInv[1] = acsParameters.rwMatrices.without2[0][1];
+    rwPseudoInv[2] = acsParameters.rwMatrices.without2[0][2];
+    rwPseudoInv[3] = acsParameters.rwMatrices.without2[1][0];
+    rwPseudoInv[4] = acsParameters.rwMatrices.without2[1][1];
+    rwPseudoInv[5] = acsParameters.rwMatrices.without2[1][2];
+    rwPseudoInv[6] = acsParameters.rwMatrices.without2[2][0];
+    rwPseudoInv[7] = acsParameters.rwMatrices.without2[2][1];
+    rwPseudoInv[8] = acsParameters.rwMatrices.without2[2][2];
+    rwPseudoInv[9] = acsParameters.rwMatrices.without2[3][0];
+    rwPseudoInv[10] = acsParameters.rwMatrices.without2[3][1];
+    rwPseudoInv[11] = acsParameters.rwMatrices.without2[3][2];
+  }
+
+  else if ((sensorValues->rw1Set.isValid()) && (sensorValues->rw2Set.isValid()) &&
+           (sensorValues->rw3Set.isValid()) && !(sensorValues->rw4Set.isValid())) {
+    rwPseudoInv[0] = acsParameters.rwMatrices.without3[0][0];
+    rwPseudoInv[1] = acsParameters.rwMatrices.without3[0][1];
+    rwPseudoInv[2] = acsParameters.rwMatrices.without3[0][2];
+    rwPseudoInv[3] = acsParameters.rwMatrices.without3[1][0];
+    rwPseudoInv[4] = acsParameters.rwMatrices.without3[1][1];
+    rwPseudoInv[5] = acsParameters.rwMatrices.without3[1][2];
+    rwPseudoInv[6] = acsParameters.rwMatrices.without3[2][0];
+    rwPseudoInv[7] = acsParameters.rwMatrices.without3[2][1];
+    rwPseudoInv[8] = acsParameters.rwMatrices.without3[2][2];
+    rwPseudoInv[9] = acsParameters.rwMatrices.without3[3][0];
+    rwPseudoInv[10] = acsParameters.rwMatrices.without3[3][1];
+    rwPseudoInv[11] = acsParameters.rwMatrices.without3[3][2];
+  }
+
+  else {
+    // 	    @note: This one takes the normal pseudoInverse of all four raction wheels valid.
+    //		Does not make sense, but is implemented that way in MATLAB ?!
+    //		Thought: It does not really play a role, because in case there are more then one
+    //		reaction wheel the pointing control is destined to fail.
+    rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
+    rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
+    rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];
+    rwPseudoInv[3] = acsParameters.rwMatrices.pseudoInverse[1][0];
+    rwPseudoInv[4] = acsParameters.rwMatrices.pseudoInverse[1][1];
+    rwPseudoInv[5] = acsParameters.rwMatrices.pseudoInverse[1][2];
+    rwPseudoInv[6] = acsParameters.rwMatrices.pseudoInverse[2][0];
+    rwPseudoInv[7] = acsParameters.rwMatrices.pseudoInverse[2][1];
+    rwPseudoInv[8] = acsParameters.rwMatrices.pseudoInverse[2][2];
+    rwPseudoInv[9] = acsParameters.rwMatrices.pseudoInverse[3][0];
+    rwPseudoInv[10] = acsParameters.rwMatrices.pseudoInverse[3][1];
+    rwPseudoInv[11] = acsParameters.rwMatrices.pseudoInverse[3][2];
+  }
+}

mission/controller/acs/Guidance.h

@@ -0,0 +1,44 @@
+/*
+ * Guidance.h
+ *
+ *  Created on: 6 Jun 2022
+ *      Author: Robin Marquardt
+ */
+
+#ifndef GUIDANCE_H_
+#define GUIDANCE_H_
+
+#include <time.h>
+
+#include "../controllerdefinitions/AcsCtrlDefinitions.h"
+#include "AcsParameters.h"
+#include "SensorValues.h"
+
+class Guidance {
+ public:
+  Guidance(AcsParameters *acsParameters_);
+  virtual ~Guidance();
+
+  void getTargetParamsSafe(double sunTargetSafe[3], double satRateRef[3]);
+
+  // Function to get the target quaternion and refence rotation rate from gps position and position
+  // of the ground station
+  void targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+                     acsctrl::SusDataProcessed *susDataProcessed, timeval now, double targetQuat[4],
+                     double refSatRate[3]);
+
+  // @note: compares target Quaternion and reference quaternion, also actual satellite rate and
+  // desired
+  void comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double refSatRate[3],
+                  double quatErrorComplete[4], double quatError[3], double deltaRate[3]);
+
+  //	@note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
+  // reation wheel 	maybe can be done in "commanding.h"
+  void getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv);
+
+ private:
+  AcsParameters acsParameters;
+  bool strBlindAvoidFlag = false;
+};
+
+#endif /* ACS_GUIDANCE_H_ */

mission/controller/acs/Igrf13Model.cpp

@@ -0,0 +1,125 @@
+/*
+ * Igrf13Model.cpp
+ *
+ *  Created on: 10 Mar 2022
+ *      Author: Robin Marquardt
+ */
+
+#include "Igrf13Model.h"
+
+#include <fsfw/globalfunctions/constants.h>
+#include <fsfw/globalfunctions/math/MatrixOperations.h>
+#include <fsfw/globalfunctions/math/QuaternionOperations.h>
+#include <fsfw/globalfunctions/math/VectorOperations.h>
+#include <math.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "util/MathOperations.h"
+
+Igrf13Model::Igrf13Model() {}
+Igrf13Model::~Igrf13Model() {}
+
+void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
+                               const double altitude, timeval timeOfMagMeasurement,
+                               double* magFieldModelInertial) {
+  double phi = longitude, theta = gcLatitude;  // geocentric
+  /* Here is the co-latitude needed*/
+  theta -= 90 * Math::PI / 180;
+  theta *= (-1);
+
+  double rE = 6371200.0;  // radius earth [m]
+  /* Predefine recursive associated Legendre polynomials */
+  double P11 = 1;
+  double P10 = P11;    // P10 = P(n-1,m-0)
+  double dP11 = 0;     // derivative
+  double dP10 = dP11;  // derivative
+
+  double P2 = 0, dP2 = 0, P20 = 0, dP20 = 0, K = 0;
+
+  for (int m = 0; m <= igrfOrder; m++) {
+    for (int n = 1; n <= igrfOrder; n++) {
+      if (m <= n) {
+        /* Calculation of Legendre Polynoms (normalised) */
+        if (n == m) {
+          P2 = sin(theta) * P11;
+          dP2 = sin(theta) * dP11 - cos(theta) * P11;
+          P11 = P2;
+          P10 = P11;
+          P20 = 0;
+          dP11 = dP2;
+          dP10 = dP11;
+          dP20 = 0;
+        } else if (n == 1) {
+          P2 = cos(theta) * P10;
+          dP2 = cos(theta) * dP10 - sin(theta) * P10;
+          P20 = P10;
+          P10 = P2;
+          dP20 = dP10;
+          dP10 = dP2;
+        } else {
+          K = (pow((n - 1), 2) - pow(m, 2)) / ((2 * n - 1) * (2 * n - 3));
+          P2 = cos(theta) * P10 - K * P20;
+          dP2 = cos(theta) * dP10 - sin(theta) * P10 - K * dP20;
+          P20 = P10;
+          P10 = P2;
+          dP20 = dP10;
+          dP10 = dP2;
+        }
+        /* gradient of scalar potential towards radius */
+        magFieldModel[0] +=
+            pow(rE / (altitude + rE), (n + 2)) * (n + 1) *
+            ((updatedG[m][n - 1] * cos(m * phi) + updatedH[m][n - 1] * sin(m * phi)) * P2);
+        /* gradient of scalar potential towards phi */
+        magFieldModel[1] +=
+            pow(rE / (altitude + rE), (n + 2)) *
+            ((updatedG[m][n - 1] * cos(m * phi) + updatedH[m][n - 1] * sin(m * phi)) * dP2);
+        /* gradient of scalar potential towards theta */
+        magFieldModel[2] +=
+            pow(rE / (altitude + rE), (n + 2)) *
+            ((-updatedG[m][n - 1] * sin(m * phi) + updatedH[m][n - 1] * cos(m * phi)) * P2 * m);
+      }
+    }
+  }
+
+  magFieldModel[1] *= -1;
+  magFieldModel[2] *= (-1 / sin(theta));
+
+  /* Next step: transform into inertial KOS (IJK)*/
+  // Julean Centuries
+  double JD2000Floor = 0;
+  double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfMagMeasurement);
+  JD2000Floor = floor(JD2000);
+  double JC2000 = JD2000Floor / 36525;
+
+  double gst = 100.4606184 + 36000.77005361 * JC2000 + 0.00038793 * pow(JC2000, 2) -
+               0.000000026 * pow(JC2000, 3);  // greenwich sidereal time
+  gst *= PI / 180;                            // convert to radians
+  double sec =
+      (JD2000 - JD2000Floor) * 86400;  // Seconds on this day (Universal time) // FROM GPS ?
+  double omega0 = 0.00007292115;       // mean angular velocity earth [rad/s]
+  gst += omega0 * sec;
+
+  double lst = gst + longitude;  // local sidereal time [rad]
+
+  magFieldModelInertial[0] = magFieldModel[0] * cos(theta) +
+                             magFieldModel[1] * sin(theta) * cos(lst) - magFieldModel[1] * sin(lst);
+  magFieldModelInertial[1] = magFieldModel[0] * cos(theta) +
+                             magFieldModel[1] * sin(theta) * sin(lst) + magFieldModel[1] * cos(lst);
+  magFieldModelInertial[2] = magFieldModel[0] * sin(theta) + magFieldModel[1] * cos(lst);
+
+  double normVecMagFieldInert[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(magFieldModelInertial, normVecMagFieldInert, 3);
+}
+
+void Igrf13Model::updateCoeffGH(timeval timeOfMagMeasurement) {
+  double JD2000Igrf = (2458850.0 - 2451545);  // Begin of IGRF-13 (2020-01-01,00:00:00) in JD2000
+  double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfMagMeasurement);
+  double days = ceil(JD2000 - JD2000Igrf);
+  for (int i = 0; i <= igrfOrder; i++) {
+    for (int j = 0; j <= (igrfOrder - 1); j++) {
+      updatedG[i][j] = coeffG[i][j] + svG[i][j] * (days / 365);
+      updatedH[i][j] = coeffH[i][j] + svH[i][j] * (days / 365);
+    }
+  }
+}

mission/controller/acs/Igrf13Model.h

@@ -0,0 +1,122 @@
+/*
+ * Igrf13Model.h
+ *
+ *  Created on: 10 Mar 2022
+ *      Author: Robin Marquardt
+ *      Description: Calculates the magnetic field vector of earth with the IGRF Model.
+ *      Sources: https://www.ngdc.noaa.gov/IAGA/vmod/igrf.html
+ *      https://doi.org/10.1186/s40623-020-01288-x
+ *      J. Davis, Mathematical Modeling of Earth's Magnetic Field, TN, 2004
+ *
+ *      [Conversion of ENU (geocentric)  to IJK: Skript Bahnmechanik für Raumfahrzeuge,
+ *      Prof. Dr.-Ing. Stefanos Fasoulas / Dr.-Ing. Frank Zimmermann]
+ *
+ */
+
+#ifndef IGRF13MODEL_H_
+#define IGRF13MODEL_H_
+
+#include <fsfw/parameters/HasParametersIF.h>
+#include <stdint.h>
+#include <string.h>
+#include <time.h>
+
+#include <cmath>
+
+// Output should be transformed to [T] instead of [nT]
+// Updating Coefficients has to be implemented yet. Question, updating everyday ?
+class Igrf13Model /*:public HasParametersIF*/ {
+ public:
+  Igrf13Model();
+  virtual ~Igrf13Model();
+
+  // Main Function
+  void magFieldComp(const double longitude, const double gcLatitude, const double altitude,
+                    timeval timeOfMagMeasurement, double* magFieldModelInertial);
+  // Right now the radius for igrf is simply with r0 + altitude calculated. In reality the radius is
+  // oriented from the satellite to earth COM Difference up to 25 km, which is 5 % of the total
+  // flight altitude
+  /* Inputs:
+   * - longitude: geocentric longitude [rad]
+   * - latitude: geocentric latitude [rad]
+   * - altitude:  [m]
+   * - timeOfMagMeasurement: time of actual measurement [s]
+   *
+   * Outputs:
+   * - magFieldModelInertial: Magnetic Field Vector in IJK KOS [nT]*/
+
+  // Coefficient wary over year, could be updated sometimes.
+  void updateCoeffGH(timeval timeOfMagMeasurement);  // Secular variation (SV)
+  double magFieldModel[3];
+
+ private:
+  const double coeffG[14][13] = {
+      {-29404.8, -2499.6, 1363.2, 903.0, -234.3, 66.0, 80.6, 23.7, 5.0, -1.9, 3.0, -2.0, 0.1},
+      {-1450.9, 2982.0, -2381.2, 809.5, 363.2, 65.5, -76.7, 9.7, 8.4, -6.2, -1.4, -0.1, -0.9},
+      {0.0, 1677.0, 1236.2, 86.3, 187.8, 72.9, -8.2, -17.6, 2.9, -0.1, -2.5, 0.5, 0.5},
+      {0.0, 0.0, 525.7, -309.4, -140.7, -121.5, 56.5, -0.5, -1.5, 1.7, 2.3, 1.3, 0.7},
+      {0.0, 0.0, 0.0, 48.0, -151.2, -36.2, 15.8, -21.1, -1.1, -0.9, -0.9, -1.2, -0.3},
+      {0.0, 0.0, 0.0, 0.0, 13.5, 13.5, 6.4, 15.3, -13.2, 0.7, 0.3, 0.7, 0.8},
+      {0.0, 0.0, 0.0, 0.0, 0.0, -64.7, -7.2, 13.7, 1.1, -0.9, -0.7, 0.3, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9.8, -16.5, 8.8, 1.9, -0.1, 0.5, 0.8},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.3, -9.3, 1.4, 1.4, -0.3, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -11.9, -2.4, -0.6, -0.5, 0.4},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -3.8, 0.2, 0.1, 0.1},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.1, -1.1, 0.5},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.3, -0.5},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.4}};  // [m][n] in nT
+
+  const double coeffH[14][13] = {
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0},
+      {4652.5, -2991.6, -82.1, 281.9, 47.7, -19.1, -51.5, 8.4, -23.4, 3.4, 0.0, -1.2, -0.9},
+      {0.0, -734.6, 241.9, -158.4, 208.3, 25.1, -16.9, -15.3, 11.0, -0.2, 2.5, 0.5, 0.6},
+      {0.0, 0.0, -543.4, 199.7, -121.2, 52.8, 2.2, 12.8, 9.8, 3.6, -0.6, 1.4, 1.4},
+      {0.0, 0.0, 0.0, -349.7, 32.3, -64.5, 23.5, -11.7, -5.1, 4.8, -0.4, -1.8, -0.4},
+      {0.0, 0.0, 0.0, 0.0, 98.9, 8.9, -2.2, 14.9, -6.3, -8.6, 0.6, 0.1, -1.3},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 68.1, -27.2, 3.6, 7.8, -0.1, -0.2, 0.8, -0.1},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.8, -6.9, 0.4, -4.3, -1.7, -0.2, 0.3},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8, -1.4, -3.4, -1.6, 0.6, -0.1},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9.6, -0.1, -3.0, 0.2, 0.5},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -8.8, -2.0, -0.9, 0.5},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -2.6, 0.0, -0.4},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, -0.4},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.6}};  // [m][n] in nT
+
+  const double svG[14][13] = {
+      {5.7, -11.0, 2.2, -1.2, -0.3, -0.5, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {7.4, -7.0, -5.9, -1.6, 0.5, -0.3, -0.2, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, -2.1, 3.1, -5.9, -0.6, 0.4, 0.0, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, -12.0, 5.2, 0.2, 1.3, 0.7, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, -5.1, 1.3, -1.4, 0.1, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.9, 0.0, -0.5, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.9, -0.8, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};  // [m][n] in nT
+
+  const double svH[14][13] = {
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {-25.9, -30.2, 6.0, -0.1, 0.0, 0.0, 0.6, -0.2, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, -22.4, -1.1, 6.5, 2.5, -1.6, 0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.5, 3.6, -0.6, -1.3, -0.8, -0.2, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, -5.0, 3.0, 0.8, -0.2, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.3, 0.0, -1.1, -0.3, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.1, -0.4, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+      {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};  // [m][n] in nT
+
+  double updatedG[14][13];
+  double updatedH[14][13];
+  static const int igrfOrder = 13;  // degree of truncation
+};
+
+#endif /* IGRF13MODEL_H_ */

mission/controller/acs/MultiplicativeKalmanFilter.h

@@ -0,0 +1,100 @@
+/*
+ * MultiplicativeKalmanFilter.h
+ *
+ *  Created on: 4 Feb 2022
+ *      Author: Robin Marquardt
+ *
+ *      @brief: This class handles the calculation of an estimated quaternion and the gyro bias by
+ *      means of the spacecraft attitude sensors
+ *
+ *      @note: A description of the used algorithms can be found in the bachelor thesis of Robin
+ * Marquardt
+ *      https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=500811
+ */
+
+#ifndef MULTIPLICATIVEKALMANFILTER_H_
+#define MULTIPLICATIVEKALMANFILTER_H_
+
+#include <stdint.h>  //uint8_t
+#include <time.h>    /*purpose, timeval ?*/
+
+#include "../controllerdefinitions/AcsCtrlDefinitions.h"
+#include "AcsParameters.h"
+#include "config/classIds.h"
+
+class MultiplicativeKalmanFilter {
+ public:
+  /* @brief: Constructor
+   * @param: acsParameters_   Pointer to object which defines the ACS configuration parameters
+   */
+  MultiplicativeKalmanFilter(AcsParameters *acsParameters_);
+  virtual ~MultiplicativeKalmanFilter();
+
+  void reset();  // NOT YET DEFINED - should only reset all mekf variables
+
+  /* @brief: init() - This function initializes the Kalman Filter and will provide the first
+   * quaternion through the QUEST algorithm
+   * @param:  magneticField_  magnetic field vector in the body frame
+   * 			sunDir_ 		sun direction vector in the body frame
+   * 			sunDirJ 		sun direction vector in the ECI frame
+   * 			magFieldJ 		magnetic field vector in the ECI frame
+   */
+  void init(const double *magneticField_, const bool validMagField_, const double *sunDir_,
+            const bool validSS, const double *sunDirJ, const bool validSSModel,
+            const double *magFieldJ, const bool validMagModel);
+
+  /* @brief:  mekfEst() - This function calculates the quaternion and gyro bias of the Kalman Filter
+   * for the current step after the initalization
+   * @param:  quaternionSTR   Star Tracker Quaternion between from body to ECI frame
+   * 			rateGYRs_ 		Estimated satellite rotation rate from the
+   * Gyroscopes [rad/s] magneticField_  magnetic field vector in the body frame sunDir_
+   * sun direction vector in the body frame sunDirJ 		sun direction vector in the ECI
+   * frame magFieldJ 		magnetic field vector in the ECI frame
+   * 			outputQuat 		Stores the calculated quaternion
+   * 			outputSatRate 	Stores the adjusted satellite rate
+   * @return 	ReturnValue_t	Feedback of this class, KALMAN_NO_GYR_MEAS if no satellite rate from
+   * the sensors was provided, KALMAN_NO_MODEL if no sunDirJ or magFieldJ was given from the model
+   * calculations, KALMAN_INVERSION_FAILED if the calculation of the Gain matrix was not possible,
+   * 							RETURN_OK else
+   */
+  ReturnValue_t mekfEst(const double *quaternionSTR, const bool validSTR_, const double *rateGYRs_,
+                        const bool validGYRs_, const double *magneticField_,
+                        const bool validMagField_, const double *sunDir_, const bool validSS,
+                        const double *sunDirJ, const bool validSSModel, const double *magFieldJ,
+                        const bool validMagModel, acsctrl::MekfData *mekfData);
+
+  // Declaration of Events (like init) and memberships
+  // static const uint8_t INTERFACE_ID = CLASS_ID::MEKF; //CLASS IDS ND
+  // (/config/returnvalues/classIDs.h) static const Event RESET  =
+  // MAKE_EVENT(1,severity::INFO);//typedef uint32_t Event (Event.h), should be
+  // resetting Mekf
+  static const uint8_t INTERFACE_ID = CLASS_ID::KALMAN;
+  static const ReturnValue_t KALMAN_NO_GYR_MEAS = MAKE_RETURN_CODE(0x01);
+  static const ReturnValue_t KALMAN_NO_MODEL = MAKE_RETURN_CODE(0x02);
+  static const ReturnValue_t KALMAN_INVERSION_FAILED = MAKE_RETURN_CODE(0x03);
+
+ private:
+  /*Parameters*/
+  AcsParameters::InertiaEIVE *inertiaEIVE;
+  AcsParameters::KalmanFilterParameters *kalmanFilterParameters;
+  double quaternion_STR_SB[4];
+  bool validInit;
+  double sampleTime = 0.1;
+
+  /*States*/
+  double initialQuaternion[4];          /*after reset?QUEST*/
+  double initialCovarianceMatrix[6][6]; /*after reset?QUEST*/
+  double propagatedQuaternion[4];       /*Filter Quaternion for next step*/
+  bool validMekf;
+  uint8_t sensorsAvail;
+
+  /*Outputs*/
+  double quatBJ[4];  /* Output Quaternion */
+  double biasGYR[3]; /*Between measured and estimated sat Rate*/
+                     /*Parameter INIT*/
+  // double alpha, gamma, beta;
+  /*Functions*/
+  void loadAcsParameters(AcsParameters *acsParameters_);
+};
+
+#endif /* ACS_MULTIPLICATIVEKALMANFILTER_H_ */

mission/controller/acs/Navigation.cpp

@@ -0,0 +1,57 @@
+/*
+ * Navigation.cpp
+ *
+ *  Created on: 23 May 2022
+ *      Author: Robin Marquardt
+ */
+
+#include "Navigation.h"
+
+#include <fsfw/globalfunctions/math/MatrixOperations.h>
+#include <fsfw/globalfunctions/math/QuaternionOperations.h>
+#include <fsfw/globalfunctions/math/VectorOperations.h>
+#include <math.h>
+
+#include "util/CholeskyDecomposition.h"
+#include "util/MathOperations.h"
+
+Navigation::Navigation(AcsParameters *acsParameters_) : multiplicativeKalmanFilter(acsParameters_) {
+  acsParameters = *acsParameters_;
+}
+
+Navigation::~Navigation() {}
+
+void Navigation::useMekf(ACS::SensorValues *sensorValues,
+                         acsctrl::GyrDataProcessed *gyrDataProcessed,
+                         acsctrl::MgmDataProcessed *mgmDataProcessed,
+                         acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MekfData *mekfData,
+                         ReturnValue_t *mekfValid) {
+  double quatJB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
+                      sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
+  bool quatJBValid = sensorValues->strSet.caliQx.isValid() &&
+                     sensorValues->strSet.caliQy.isValid() &&
+                     sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid();
+
+  if (kalmanInit) {
+    *mekfValid = multiplicativeKalmanFilter.mekfEst(
+        quatJB, quatJBValid, gyrDataProcessed->gyrVecTot.value,
+        gyrDataProcessed->gyrVecTot.isValid(), mgmDataProcessed->mgmVecTot.value,
+        mgmDataProcessed->mgmVecTot.isValid(), susDataProcessed->susVecTot.value,
+        susDataProcessed->susVecTot.isValid(), susDataProcessed->sunIjkModel.value,
+        susDataProcessed->sunIjkModel.isValid(), mgmDataProcessed->magIgrfModel.value,
+        mgmDataProcessed->magIgrfModel.isValid(),
+        mekfData);  // VALIDS FOR QUAT AND RATE ??
+  } else {
+    multiplicativeKalmanFilter.init(
+        mgmDataProcessed->mgmVecTot.value, mgmDataProcessed->mgmVecTot.isValid(),
+        susDataProcessed->susVecTot.value, susDataProcessed->susVecTot.isValid(),
+        susDataProcessed->sunIjkModel.value, susDataProcessed->sunIjkModel.isValid(),
+        mgmDataProcessed->magIgrfModel.value, mgmDataProcessed->magIgrfModel.isValid());
+    kalmanInit = true;
+    *mekfValid = returnvalue::OK;
+
+    //		Maybe we need feedback from kalmanfilter to identify if there was a problem with the
+    // init of kalman filter 		where does this class know from that kalman filter was not
+    // initialized ?
+  }
+}

mission/controller/acs/Navigation.h

@@ -0,0 +1,35 @@
+/*
+ * Navigation.h
+ *
+ *  Created on: 19 Apr 2022
+ *      Author: Robin Marquardt
+ */
+
+#ifndef NAVIGATION_H_
+#define NAVIGATION_H_
+
+#include "../controllerdefinitions/AcsCtrlDefinitions.h"
+#include "AcsParameters.h"
+#include "MultiplicativeKalmanFilter.h"
+#include "SensorProcessing.h"
+#include "SensorValues.h"
+
+class Navigation {
+ public:
+  Navigation(AcsParameters *acsParameters_);  // Input mode ?
+  virtual ~Navigation();
+
+  void useMekf(ACS::SensorValues *sensorValues, acsctrl::GyrDataProcessed *gyrDataProcessed,
+               acsctrl::MgmDataProcessed *mgmDataProcessed,
+               acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MekfData *mekfData,
+               ReturnValue_t *mekfValid);
+  void processSensorData();
+
+ protected:
+ private:
+  MultiplicativeKalmanFilter multiplicativeKalmanFilter;
+  AcsParameters acsParameters;
+  bool kalmanInit = false;
+};
+
+#endif /* ACS_NAVIGATION_H_ */

mission/controller/acs/SensorProcessing.cpp

@@ -0,0 +1,637 @@
+#include "SensorProcessing.h"
+
+#include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/globalfunctions/constants.h>
+#include <fsfw/globalfunctions/math/MatrixOperations.h>
+#include <fsfw/globalfunctions/math/QuaternionOperations.h>
+#include <fsfw/globalfunctions/math/VectorOperations.h>
+#include <fsfw/globalfunctions/timevalOperations.h>
+#include <math.h>
+
+#include "../controllerdefinitions/AcsCtrlDefinitions.h"
+#include "Igrf13Model.h"
+#include "util/MathOperations.h"
+
+using namespace Math;
+
+SensorProcessing::SensorProcessing(AcsParameters *acsParameters_)
+    : savedMgmVecTot{0, 0, 0}, validMagField(false), validGcLatitude(false) {}
+
+SensorProcessing::~SensorProcessing() {}
+
+void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value,
+                                  bool mgm1valid, const float *mgm2Value, bool mgm2valid,
+                                  const float *mgm3Value, bool mgm3valid, const float *mgm4Value,
+                                  bool mgm4valid, timeval timeOfMgmMeasurement,
+                                  const AcsParameters::MgmHandlingParameters *mgmParameters,
+                                  acsctrl::GpsDataProcessed *gpsDataProcessed,
+                                  const double gpsAltitude, bool gpsValid,
+                                  acsctrl::MgmDataProcessed *mgmDataProcessed) {
+  if (!mgm0valid && !mgm1valid && !mgm2valid && !mgm3valid && !mgm4valid) {
+    {
+      PoolReadGuard pg(mgmDataProcessed);
+      if (pg.getReadResult() == returnvalue::OK) {
+        std::memcpy(mgmDataProcessed->mgm0vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm1vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm2vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm3vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm4vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgmVecTot.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->magIgrfModel.value, zeroVector, 3 * sizeof(double));
+        mgmDataProcessed->setValidity(false, true);
+      }
+    }
+    return;
+  }
+  float mgm0ValueNoBias[3] = {0, 0, 0}, mgm1ValueNoBias[3] = {0, 0, 0},
+        mgm2ValueNoBias[3] = {0, 0, 0}, mgm3ValueNoBias[3] = {0, 0, 0},
+        mgm4ValueNoBias[3] = {0, 0, 0};
+  float mgm0ValueCalib[3] = {0, 0, 0}, mgm1ValueCalib[3] = {0, 0, 0}, mgm2ValueCalib[3] = {0, 0, 0},
+        mgm3ValueCalib[3] = {0, 0, 0}, mgm4ValueCalib[3] = {0, 0, 0};
+  float mgm0ValueBody[3] = {0, 0, 0}, mgm1ValueBody[3] = {0, 0, 0}, mgm2ValueBody[3] = {0, 0, 0},
+        mgm3ValueBody[3] = {0, 0, 0}, mgm4ValueBody[3] = {0, 0, 0};
+  float sensorFusionNumerator[3] = {0, 0, 0}, sensorFusionDenominator[3] = {0, 0, 0};
+
+  if (mgm0valid) {
+    VectorOperations<float>::subtract(mgm0Value, mgmParameters->mgm0hardIronOffset, mgm0ValueNoBias,
+                                      3);
+    MatrixOperations<float>::multiply(mgmParameters->mgm0softIronInverse[0], mgm0ValueNoBias,
+                                      mgm0ValueCalib, 3, 3, 1);
+    MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0ValueCalib,
+                                      mgm0ValueBody, 3, 3, 1);
+    for (uint8_t i = 0; i < 3; i++) {
+      sensorFusionNumerator[i] += mgm0ValueBody[i] / mgmParameters->mgm02variance[i];
+      sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
+    }
+  }
+  if (mgm1valid) {
+    VectorOperations<float>::subtract(mgm1Value, mgmParameters->mgm1hardIronOffset, mgm1ValueNoBias,
+                                      3);
+    MatrixOperations<float>::multiply(mgmParameters->mgm1softIronInverse[0], mgm1ValueNoBias,
+                                      mgm1ValueCalib, 3, 3, 1);
+    MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1ValueCalib,
+                                      mgm1ValueBody, 3, 3, 1);
+    for (uint8_t i = 0; i < 3; i++) {
+      sensorFusionNumerator[i] += mgm1ValueBody[i] / mgmParameters->mgm13variance[i];
+      sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
+    }
+  }
+  if (mgm2valid) {
+    VectorOperations<float>::subtract(mgm2Value, mgmParameters->mgm2hardIronOffset, mgm2ValueNoBias,
+                                      3);
+    MatrixOperations<float>::multiply(mgmParameters->mgm2softIronInverse[0], mgm2ValueNoBias,
+                                      mgm2ValueCalib, 3, 3, 1);
+    MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2ValueCalib,
+                                      mgm2ValueBody, 3, 3, 1);
+    for (uint8_t i = 0; i < 3; i++) {
+      sensorFusionNumerator[i] += mgm2ValueBody[i] / mgmParameters->mgm02variance[i];
+      sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
+    }
+  }
+  if (mgm3valid) {
+    VectorOperations<float>::subtract(mgm3Value, mgmParameters->mgm3hardIronOffset, mgm3ValueNoBias,
+                                      3);
+    MatrixOperations<float>::multiply(mgmParameters->mgm3softIronInverse[0], mgm3ValueNoBias,
+                                      mgm3ValueCalib, 3, 3, 1);
+    MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3ValueCalib,
+                                      mgm3ValueBody, 3, 3, 1);
+    for (uint8_t i = 0; i < 3; i++) {
+      sensorFusionNumerator[i] += mgm3ValueBody[i] / mgmParameters->mgm13variance[i];
+      sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
+    }
+  }
+  if (mgm4valid) {
+    float mgm4ValueNT[3];
+    VectorOperations<float>::mulScalar(mgm4Value, 1e3, mgm4ValueNT, 3);  // uT to nT
+    VectorOperations<float>::subtract(mgm4ValueNT, mgmParameters->mgm4hardIronOffset,
+                                      mgm4ValueNoBias, 3);
+    MatrixOperations<float>::multiply(mgmParameters->mgm4softIronInverse[0], mgm4ValueNoBias,
+                                      mgm4ValueCalib, 3, 3, 1);
+    MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueCalib,
+                                      mgm4ValueBody, 3, 3, 1);
+    for (uint8_t i = 0; i < 3; i++) {
+      sensorFusionNumerator[i] += mgm4ValueBody[i] / mgmParameters->mgm4variance[i];
+      sensorFusionDenominator[i] += 1 / mgmParameters->mgm4variance[i];
+    }
+  }
+  double mgmVecTot[3] = {0.0, 0.0, 0.0};
+  for (uint8_t i = 0; i < 3; i++) {
+    mgmVecTot[i] = sensorFusionNumerator[i] / sensorFusionDenominator[i];
+  }
+
+  //-----------------------Mgm Rate Computation ---------------------------------------------------
+  double mgmVecTotDerivative[3] = {0.0, 0.0, 0.0};
+  bool mgmVecTotDerivativeValid = false;
+  double timeDiff = timevalOperations::toDouble(timeOfMgmMeasurement - timeOfSavedMagFieldEst);
+  if (timeOfSavedMagFieldEst.tv_sec != 0) {
+    for (uint8_t i = 0; i < 3; i++) {
+      mgmVecTotDerivative[i] = (mgmVecTot[i] - savedMgmVecTot[i]) / timeDiff;
+      savedMgmVecTot[i] = mgmVecTot[i];
+    }
+  }
+  timeOfSavedMagFieldEst = timeOfMgmMeasurement;
+
+  // ---------------- IGRF- 13 Implementation here ------------------------------------------------
+  double magIgrfModel[3] = {0.0, 0.0, 0.0};
+  if (gpsValid) {
+    // Should be existing class object which will be called and modified here.
+    Igrf13Model igrf13;
+    // So the line above should not be done here. Update: Can be done here as long updated coffs
+    //		stored in acsParameters ?
+    igrf13.updateCoeffGH(timeOfMgmMeasurement);
+    // maybe put a condition here, to only update after a full day, this
+    // class function has around 700 steps to perform
+    igrf13.magFieldComp(gpsDataProcessed->gdLongitude.value, gpsDataProcessed->gcLatitude.value,
+                        gpsAltitude, timeOfMgmMeasurement, magIgrfModel);
+  }
+  {
+    PoolReadGuard pg(mgmDataProcessed);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(mgmDataProcessed->mgm0vec.value, mgm0ValueBody, 3 * sizeof(float));
+      mgmDataProcessed->mgm0vec.setValid(mgm0valid);
+      std::memcpy(mgmDataProcessed->mgm1vec.value, mgm1ValueBody, 3 * sizeof(float));
+      mgmDataProcessed->mgm1vec.setValid(mgm1valid);
+      std::memcpy(mgmDataProcessed->mgm2vec.value, mgm2ValueBody, 3 * sizeof(float));
+      mgmDataProcessed->mgm2vec.setValid(mgm2valid);
+      std::memcpy(mgmDataProcessed->mgm3vec.value, mgm3ValueBody, 3 * sizeof(float));
+      mgmDataProcessed->mgm3vec.setValid(mgm3valid);
+      std::memcpy(mgmDataProcessed->mgm4vec.value, mgm4ValueBody, 3 * sizeof(float));
+      mgmDataProcessed->mgm4vec.setValid(mgm4valid);
+      std::memcpy(mgmDataProcessed->mgmVecTot.value, mgmVecTot, 3 * sizeof(double));
+      mgmDataProcessed->mgmVecTot.setValid(true);
+      std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, mgmVecTotDerivative,
+                  3 * sizeof(double));
+      mgmDataProcessed->mgmVecTotDerivative.setValid(mgmVecTotDerivativeValid);
+      std::memcpy(mgmDataProcessed->magIgrfModel.value, magIgrfModel, 3 * sizeof(double));
+      mgmDataProcessed->magIgrfModel.setValid(gpsValid);
+      mgmDataProcessed->setValidity(true, false);
+    }
+  }
+}
+
+void SensorProcessing::processSus(
+    const uint16_t *sus0Value, bool sus0valid, const uint16_t *sus1Value, bool sus1valid,
+    const uint16_t *sus2Value, bool sus2valid, const uint16_t *sus3Value, bool sus3valid,
+    const uint16_t *sus4Value, bool sus4valid, const uint16_t *sus5Value, bool sus5valid,
+    const uint16_t *sus6Value, bool sus6valid, const uint16_t *sus7Value, bool sus7valid,
+    const uint16_t *sus8Value, bool sus8valid, const uint16_t *sus9Value, bool sus9valid,
+    const uint16_t *sus10Value, bool sus10valid, const uint16_t *sus11Value, bool sus11valid,
+    timeval timeOfSusMeasurement, const AcsParameters::SusHandlingParameters *susParameters,
+    const AcsParameters::SunModelParameters *sunModelParameters,
+    acsctrl::SusDataProcessed *susDataProcessed) {
+  if (sus0valid) {
+    sus0valid = susConverter.checkSunSensorData(sus0Value);
+  }
+  if (sus1valid) {
+    sus1valid = susConverter.checkSunSensorData(sus1Value);
+  }
+  if (sus2valid) {
+    sus2valid = susConverter.checkSunSensorData(sus2Value);
+  }
+  if (sus3valid) {
+    sus3valid = susConverter.checkSunSensorData(sus3Value);
+  }
+  if (sus4valid) {
+    sus4valid = susConverter.checkSunSensorData(sus4Value);
+  }
+  if (sus5valid) {
+    sus5valid = susConverter.checkSunSensorData(sus5Value);
+  }
+  if (sus6valid) {
+    sus6valid = susConverter.checkSunSensorData(sus6Value);
+  }
+  if (sus7valid) {
+    sus7valid = susConverter.checkSunSensorData(sus7Value);
+  }
+  if (sus8valid) {
+    sus8valid = susConverter.checkSunSensorData(sus8Value);
+  }
+  if (sus9valid) {
+    sus9valid = susConverter.checkSunSensorData(sus9Value);
+  }
+  if (sus10valid) {
+    sus10valid = susConverter.checkSunSensorData(sus10Value);
+  }
+  if (sus11valid) {
+    sus11valid = susConverter.checkSunSensorData(sus11Value);
+  }
+
+  if (!sus0valid && !sus1valid && !sus2valid && !sus3valid && !sus4valid && !sus5valid &&
+      !sus6valid && !sus7valid && !sus8valid && !sus9valid && !sus10valid && !sus11valid) {
+    {
+      PoolReadGuard pg(susDataProcessed);
+      if (pg.getReadResult() == returnvalue::OK) {
+        std::memcpy(susDataProcessed->sus0vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus1vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus2vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus3vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus4vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus5vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus6vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus7vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus8vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus9vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus10vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus11vec.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->susVecTot.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->susVecTotDerivative.value, zeroVector, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sunIjkModel.value, zeroVector, 3 * sizeof(double));
+        susDataProcessed->setValidity(false, true);
+      }
+    }
+    return;
+  }
+  // WARNING: NOT TRANSFORMED IN BODY FRAME YET
+  // Transformation into Geomtry Frame
+  float sus0VecBody[3] = {0, 0, 0}, sus1VecBody[3] = {0, 0, 0}, sus2VecBody[3] = {0, 0, 0},
+        sus3VecBody[3] = {0, 0, 0}, sus4VecBody[3] = {0, 0, 0}, sus5VecBody[3] = {0, 0, 0},
+        sus6VecBody[3] = {0, 0, 0}, sus7VecBody[3] = {0, 0, 0}, sus8VecBody[3] = {0, 0, 0},
+        sus9VecBody[3] = {0, 0, 0}, sus10VecBody[3] = {0, 0, 0}, sus11VecBody[3] = {0, 0, 0};
+
+  if (sus0valid) {
+    MatrixOperations<float>::multiply(
+        susParameters->sus0orientationMatrix[0],
+        susConverter.getSunVectorSensorFrame(sus0Value, susParameters->sus0coeffAlpha,
+                                             susParameters->sus0coeffBeta),
+        sus0VecBody, 3, 3, 1);
+  }
+  {
+    PoolReadGuard pg(susDataProcessed);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(susDataProcessed->sus0vec.value, sus0VecBody, 3 * sizeof(float));
+      susDataProcessed->sus0vec.setValid(sus0valid);
+      if (!sus0valid) {
+        std::memcpy(susDataProcessed->sus0vec.value, zeroVector, 3 * sizeof(float));
+      }
+    }
+  }
+  if (sus1valid) {
+    MatrixOperations<float>::multiply(
+        susParameters->sus1orientationMatrix[0],
+        susConverter.getSunVectorSensorFrame(sus1Value, susParameters->sus1coeffAlpha,
+                                             susParameters->sus1coeffBeta),
+        sus1VecBody, 3, 3, 1);
+  }
+  {
+    PoolReadGuard pg(susDataProcessed);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(susDataProcessed->sus1vec.value, sus1VecBody, 3 * sizeof(float));
+      susDataProcessed->sus1vec.setValid(sus1valid);
+      if (!sus1valid) {
+        std::memcpy(susDataProcessed->sus1vec.value, zeroVector, 3 * sizeof(float));
+      }
+    }
+  }
+  if (sus2valid) {
+    MatrixOperations<float>::multiply(
+        susParameters->sus2orientationMatrix[0],
+        susConverter.getSunVectorSensorFrame(sus2Value, susParameters->sus2coeffAlpha,
+                                             susParameters->sus2coeffBeta),
+        sus2VecBody, 3, 3, 1);
+  }
+  if (sus3valid) {
+    MatrixOperations<float>::multiply(
+        susParameters->sus3orientationMatrix[0],
+        susConverter.getSunVectorSensorFrame(sus3Value, susParameters->sus3coeffAlpha,
+                                             susParameters->sus3coeffBeta),
+        sus3VecBody, 3, 3, 1);
+  }
+  if (sus4valid) {
+    MatrixOperations<float>::multiply(
+        susParameters->sus4orientationMatrix[0],
+        susConverter.getSunVectorSensorFrame(sus4Value, susParameters->sus4coeffAlpha,
+                                             susParameters->sus4coeffBeta),
+        sus4VecBody, 3, 3, 1);
+  }
+  if (sus5valid) {
+    MatrixOperations<float>::multiply(
+        susParameters->sus5orientationMatrix[0],
+        susConverter.getSunVectorSensorFrame(sus5Value, susParameters->sus5coeffAlpha,
+                                             susParameters->sus5coeffBeta),
+        sus5VecBody, 3, 3, 1);
+  }
+  if (sus6valid) {
+    MatrixOperations<float>::multiply(
+        susParameters->sus6orientationMatrix[0],
+        susConverter.getSunVectorSensorFrame(sus6Value, susParameters->sus6coeffAlpha,
+                                             susParameters->sus6coeffBeta),
+        sus6VecBody, 3, 3, 1);
+  }
+  if (sus7valid) {
+    MatrixOperations<float>::multiply(
+        susParameters->sus7orientationMatrix[0],
+        susConverter.getSunVectorSensorFrame(sus7Value, susParameters->sus7coeffAlpha,
+                                             susParameters->sus7coeffBeta),
+        sus7VecBody, 3, 3, 1);
+  }
+  if (sus8valid) {
+    MatrixOperations<float>::multiply(
+        susParameters->sus8orientationMatrix[0],
+        susConverter.getSunVectorSensorFrame(sus8Value, susParameters->sus8coeffAlpha,
+                                             susParameters->sus8coeffBeta),
+        sus8VecBody, 3, 3, 1);
+  }
+  if (sus9valid) {
+    MatrixOperations<float>::multiply(
+        susParameters->sus9orientationMatrix[0],
+        susConverter.getSunVectorSensorFrame(sus9Value, susParameters->sus9coeffAlpha,
+                                             susParameters->sus9coeffBeta),
+        sus9VecBody, 3, 3, 1);
+  }
+  if (sus10valid) {
+    MatrixOperations<float>::multiply(
+        susParameters->sus10orientationMatrix[0],
+        susConverter.getSunVectorSensorFrame(sus10Value, susParameters->sus10coeffAlpha,
+                                             susParameters->sus10coeffBeta),
+        sus10VecBody, 3, 3, 1);
+  }
+  if (sus11valid) {
+    MatrixOperations<float>::multiply(
+        susParameters->sus11orientationMatrix[0],
+        susConverter.getSunVectorSensorFrame(sus11Value, susParameters->sus11coeffAlpha,
+                                             susParameters->sus11coeffBeta),
+        sus11VecBody, 3, 3, 1);
+  }
+
+  /* ------ Mean Value: susDirEst ------ */
+  bool validIds[12] = {sus0valid, sus1valid, sus2valid, sus3valid, sus4valid,  sus5valid,
+                       sus6valid, sus7valid, sus8valid, sus9valid, sus10valid, sus11valid};
+  float susVecBody[3][12] = {{sus0VecBody[0], sus1VecBody[0], sus2VecBody[0], sus3VecBody[0],
+                              sus4VecBody[0], sus5VecBody[0], sus6VecBody[0], sus7VecBody[0],
+                              sus8VecBody[0], sus9VecBody[0], sus10VecBody[0], sus11VecBody[0]},
+                             {sus0VecBody[1], sus1VecBody[1], sus2VecBody[1], sus3VecBody[1],
+                              sus4VecBody[1], sus5VecBody[1], sus6VecBody[1], sus7VecBody[1],
+                              sus8VecBody[1], sus9VecBody[1], sus10VecBody[1], sus11VecBody[1]},
+                             {sus0VecBody[2], sus1VecBody[2], sus2VecBody[2], sus3VecBody[2],
+                              sus4VecBody[2], sus5VecBody[2], sus6VecBody[2], sus7VecBody[2],
+                              sus8VecBody[2], sus9VecBody[2], sus10VecBody[2], sus11VecBody[2]}};
+
+  double susMeanValue[3] = {0, 0, 0};
+  for (uint8_t i = 0; i < 12; i++) {
+    if (validIds[i]) {
+      susMeanValue[0] += susVecBody[0][i];
+      susMeanValue[1] += susVecBody[1][i];
+      susMeanValue[2] += susVecBody[2][i];
+    }
+  }
+  double susVecTot[3] = {0.0, 0.0, 0.0};
+  VectorOperations<double>::normalize(susMeanValue, susVecTot, 3);
+
+  /* -------- Sun Derivatiative --------------------- */
+
+  double susVecTotDerivative[3] = {0.0, 0.0, 0.0};
+  bool susVecTotDerivativeValid = false;
+  double timeDiff = timevalOperations::toDouble(timeOfSusMeasurement - timeOfSavedSusDirEst);
+  if (timeOfSavedSusDirEst.tv_sec != 0) {
+    for (uint8_t i = 0; i < 3; i++) {
+      susVecTotDerivative[i] = (susVecTot[i] - savedSusVecTot[i]) / timeDiff;
+      savedSusVecTot[i] = susVecTot[i];
+    }
+  }
+  timeOfSavedSusDirEst = timeOfSusMeasurement;
+
+  /* -------- Sun Model Direction (IJK frame) ------- */
+  // if (useSunModel) eventuell
+  double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfSusMeasurement);
+
+  // Julean Centuries
+  double sunIjkModel[3] = {0.0, 0.0, 0.0};
+  double JC2000 = JD2000 / 36525;
+
+  double meanLongitude =
+      (sunModelParameters->omega_0 + (sunModelParameters->domega) * JC2000) * PI / 180;
+  double meanAnomaly = (sunModelParameters->m_0 + sunModelParameters->dm * JC2000) * PI / 180.;
+
+  double eclipticLongitude = meanLongitude + sunModelParameters->p1 * sin(meanAnomaly) +
+                             sunModelParameters->p2 * sin(2 * meanAnomaly);
+
+  double epsilon = sunModelParameters->e - (sunModelParameters->e1) * JC2000;
+
+  sunIjkModel[0] = cos(eclipticLongitude);
+  sunIjkModel[1] = sin(eclipticLongitude) * cos(epsilon);
+  sunIjkModel[2] = sin(eclipticLongitude) * sin(epsilon);
+  {
+    PoolReadGuard pg(susDataProcessed);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(susDataProcessed->sus0vec.value, sus0VecBody, 3 * sizeof(float));
+      susDataProcessed->sus0vec.setValid(sus0valid);
+      std::memcpy(susDataProcessed->sus1vec.value, sus1VecBody, 3 * sizeof(float));
+      susDataProcessed->sus1vec.setValid(sus1valid);
+      std::memcpy(susDataProcessed->sus2vec.value, sus2VecBody, 3 * sizeof(float));
+      susDataProcessed->sus2vec.setValid(sus2valid);
+      std::memcpy(susDataProcessed->sus3vec.value, sus3VecBody, 3 * sizeof(float));
+      susDataProcessed->sus3vec.setValid(sus3valid);
+      std::memcpy(susDataProcessed->sus4vec.value, sus4VecBody, 3 * sizeof(float));
+      susDataProcessed->sus4vec.setValid(sus4valid);
+      std::memcpy(susDataProcessed->sus5vec.value, sus5VecBody, 3 * sizeof(float));
+      susDataProcessed->sus5vec.setValid(sus5valid);
+      std::memcpy(susDataProcessed->sus6vec.value, sus6VecBody, 3 * sizeof(float));
+      susDataProcessed->sus6vec.setValid(sus6valid);
+      std::memcpy(susDataProcessed->sus7vec.value, sus7VecBody, 3 * sizeof(float));
+      susDataProcessed->sus7vec.setValid(sus7valid);
+      std::memcpy(susDataProcessed->sus8vec.value, sus8VecBody, 3 * sizeof(float));
+      susDataProcessed->sus8vec.setValid(sus8valid);
+      std::memcpy(susDataProcessed->sus9vec.value, sus9VecBody, 3 * sizeof(float));
+      susDataProcessed->sus9vec.setValid(sus9valid);
+      std::memcpy(susDataProcessed->sus10vec.value, sus10VecBody, 3 * sizeof(float));
+      susDataProcessed->sus10vec.setValid(sus10valid);
+      std::memcpy(susDataProcessed->sus11vec.value, sus11VecBody, 3 * sizeof(float));
+      susDataProcessed->sus11vec.setValid(sus11valid);
+      std::memcpy(susDataProcessed->susVecTot.value, susVecTot, 3 * sizeof(double));
+      susDataProcessed->susVecTot.setValid(true);
+      std::memcpy(susDataProcessed->susVecTotDerivative.value, susVecTotDerivative,
+                  3 * sizeof(double));
+      susDataProcessed->susVecTotDerivative.setValid(susVecTotDerivativeValid);
+      std::memcpy(susDataProcessed->sunIjkModel.value, sunIjkModel, 3 * sizeof(double));
+      susDataProcessed->sunIjkModel.setValid(true);
+      susDataProcessed->setValidity(true, false);
+    }
+  }
+}
+
+void SensorProcessing::processGyr(
+    const double gyr0axXvalue, bool gyr0axXvalid, const double gyr0axYvalue, bool gyr0axYvalid,
+    const double gyr0axZvalue, bool gyr0axZvalid, const double gyr1axXvalue, bool gyr1axXvalid,
+    const double gyr1axYvalue, bool gyr1axYvalid, const double gyr1axZvalue, bool gyr1axZvalid,
+    const double gyr2axXvalue, bool gyr2axXvalid, const double gyr2axYvalue, bool gyr2axYvalid,
+    const double gyr2axZvalue, bool gyr2axZvalid, const double gyr3axXvalue, bool gyr3axXvalid,
+    const double gyr3axYvalue, bool gyr3axYvalid, const double gyr3axZvalue, bool gyr3axZvalid,
+    timeval timeOfGyrMeasurement, const AcsParameters::GyrHandlingParameters *gyrParameters,
+    acsctrl::GyrDataProcessed *gyrDataProcessed) {
+  bool gyr0valid = (gyr0axXvalid && gyr0axYvalid && gyr0axZvalid);
+  bool gyr1valid = (gyr1axXvalid && gyr1axYvalid && gyr1axZvalid);
+  bool gyr2valid = (gyr2axXvalid && gyr2axYvalid && gyr2axZvalid);
+  bool gyr3valid = (gyr3axXvalid && gyr3axYvalid && gyr3axZvalid);
+  if (!gyr0valid && !gyr1valid && !gyr2valid && !gyr3valid) {
+    {
+      PoolReadGuard pg(gyrDataProcessed);
+      if (pg.getReadResult() == returnvalue::OK) {
+        std::memcpy(gyrDataProcessed->gyr0vec.value, zeroVector, 3 * sizeof(double));
+        std::memcpy(gyrDataProcessed->gyr1vec.value, zeroVector, 3 * sizeof(double));
+        std::memcpy(gyrDataProcessed->gyr2vec.value, zeroVector, 3 * sizeof(double));
+        std::memcpy(gyrDataProcessed->gyr3vec.value, zeroVector, 3 * sizeof(double));
+        std::memcpy(gyrDataProcessed->gyrVecTot.value, zeroVector, 3 * sizeof(double));
+        gyrDataProcessed->setValidity(false, true);
+      }
+    }
+    return;
+  }
+  // Transforming Values to the Body Frame (actually it is the geometry frame atm)
+  double gyr0ValueBody[3] = {0, 0, 0}, gyr1ValueBody[3] = {0, 0, 0}, gyr2ValueBody[3] = {0, 0, 0},
+         gyr3ValueBody[3] = {0, 0, 0};
+  float sensorFusionNumerator[3] = {0, 0, 0}, sensorFusionDenominator[3] = {0, 0, 0};
+
+  if (gyr0valid) {
+    const double gyr0Value[3] = {gyr0axXvalue, gyr0axYvalue, gyr0axZvalue};
+    MatrixOperations<double>::multiply(gyrParameters->gyr0orientationMatrix[0], gyr0Value,
+                                       gyr0ValueBody, 3, 3, 1);
+    for (uint8_t i = 0; i < 3; i++) {
+      sensorFusionNumerator[i] += gyr0ValueBody[i] / gyrParameters->gyr02variance[i];
+      sensorFusionDenominator[i] += 1 / gyrParameters->gyr02variance[i];
+    }
+  }
+  if (gyr1valid) {
+    const double gyr1Value[3] = {gyr1axXvalue, gyr1axYvalue, gyr1axZvalue};
+    MatrixOperations<double>::multiply(gyrParameters->gyr1orientationMatrix[0], gyr1Value,
+                                       gyr1ValueBody, 3, 3, 1);
+    for (uint8_t i = 0; i < 3; i++) {
+      sensorFusionNumerator[i] += gyr1ValueBody[i] / gyrParameters->gyr13variance[i];
+      sensorFusionDenominator[i] += 1 / gyrParameters->gyr13variance[i];
+    }
+  }
+  if (gyr2valid) {
+    const double gyr2Value[3] = {gyr2axXvalue, gyr2axYvalue, gyr2axZvalue};
+    MatrixOperations<double>::multiply(gyrParameters->gyr2orientationMatrix[0], gyr2Value,
+                                       gyr2ValueBody, 3, 3, 1);
+    for (uint8_t i = 0; i < 3; i++) {
+      sensorFusionNumerator[i] += gyr2ValueBody[i] / gyrParameters->gyr02variance[i];
+      sensorFusionDenominator[i] += 1 / gyrParameters->gyr02variance[i];
+    }
+  }
+  if (gyr3valid) {
+    const double gyr3Value[3] = {gyr3axXvalue, gyr3axYvalue, gyr3axZvalue};
+    MatrixOperations<double>::multiply(gyrParameters->gyr3orientationMatrix[0], gyr3Value,
+                                       gyr3ValueBody, 3, 3, 1);
+    for (uint8_t i = 0; i < 3; i++) {
+      sensorFusionNumerator[i] += gyr3ValueBody[i] / gyrParameters->gyr13variance[i];
+      sensorFusionDenominator[i] += 1 / gyrParameters->gyr13variance[i];
+    }
+  }
+
+  /* -------- SatRateEst: Middle Value ------- */
+  // take ADIS measurements, if both avail
+  // if just one ADIS measurement avail, perform sensor fusion
+  double gyrVecTot[3] = {0.0, 0.0, 0.0};
+  if ((gyr0valid && gyr2valid) && gyrParameters->preferAdis == gyrParameters->PreferAdis::YES) {
+    double gyr02ValuesSum[3];
+    VectorOperations<double>::add(gyr0ValueBody, gyr2ValueBody, gyr02ValuesSum, 3);
+    VectorOperations<double>::mulScalar(gyr02ValuesSum, .5, gyrVecTot, 3);
+  } else {
+    for (uint8_t i = 0; i < 3; i++) {
+      gyrVecTot[i] = sensorFusionNumerator[i] / sensorFusionDenominator[i];
+    }
+  }
+  {
+    PoolReadGuard pg(gyrDataProcessed);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(gyrDataProcessed->gyr0vec.value, gyr0ValueBody, 3 * sizeof(double));
+      gyrDataProcessed->gyr0vec.setValid(gyr0valid);
+      std::memcpy(gyrDataProcessed->gyr1vec.value, gyr1ValueBody, 3 * sizeof(double));
+      gyrDataProcessed->gyr1vec.setValid(gyr1valid);
+      std::memcpy(gyrDataProcessed->gyr2vec.value, gyr2ValueBody, 3 * sizeof(double));
+      gyrDataProcessed->gyr2vec.setValid(gyr2valid);
+      std::memcpy(gyrDataProcessed->gyr3vec.value, gyr3ValueBody, 3 * sizeof(double));
+      gyrDataProcessed->gyr3vec.setValid(gyr3valid);
+      std::memcpy(gyrDataProcessed->gyrVecTot.value, gyrVecTot, 3 * sizeof(double));
+      gyrDataProcessed->gyrVecTot.setValid(true);
+      gyrDataProcessed->setValidity(true, false);
+    }
+  }
+}
+
+void SensorProcessing::processGps(const double gps0latitude, const double gps0longitude,
+                                  const bool validGps,
+                                  acsctrl::GpsDataProcessed *gpsDataProcessed) {
+  // name to convert not process
+  double gdLongitude, gcLatitude;
+  if (validGps) {
+    // Transforming from Degree to Radians and calculation geocentric lattitude from geodetic
+    gdLongitude = gps0longitude * PI / 180;
+    double latitudeRad = gps0latitude * PI / 180;
+    double eccentricityWgs84 = 0.0818195;
+    double factor = 1 - pow(eccentricityWgs84, 2);
+    gcLatitude = atan(factor * tan(latitudeRad));
+    // validGcLatitude = true;
+  }
+  {
+    PoolReadGuard pg(gpsDataProcessed);
+    if (pg.getReadResult() == returnvalue::OK) {
+      gpsDataProcessed->gdLongitude.value = gdLongitude;
+      gpsDataProcessed->gcLatitude.value = gcLatitude;
+      gpsDataProcessed->setValidity(validGps, validGps);
+      if (!validGps) {
+        gpsDataProcessed->gdLongitude.value = 0.0;
+        gpsDataProcessed->gcLatitude.value = 0.0;
+      }
+    }
+  }
+}
+
+void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
+                               acsctrl::MgmDataProcessed *mgmDataProcessed,
+                               acsctrl::SusDataProcessed *susDataProcessed,
+                               acsctrl::GyrDataProcessed *gyrDataProcessed,
+                               acsctrl::GpsDataProcessed *gpsDataProcessed,
+                               const AcsParameters *acsParameters) {
+  sensorValues->update();
+  processGps(sensorValues->gpsSet.latitude.value, sensorValues->gpsSet.longitude.value,
+             (sensorValues->gpsSet.latitude.isValid() && sensorValues->gpsSet.longitude.isValid() &&
+              sensorValues->gpsSet.altitude.isValid()),
+             gpsDataProcessed);
+
+  processMgm(sensorValues->mgm0Lis3Set.fieldStrengths.value,
+             sensorValues->mgm0Lis3Set.fieldStrengths.isValid(),
+             sensorValues->mgm1Rm3100Set.fieldStrengths.value,
+             sensorValues->mgm1Rm3100Set.fieldStrengths.isValid(),
+             sensorValues->mgm2Lis3Set.fieldStrengths.value,
+             sensorValues->mgm2Lis3Set.fieldStrengths.isValid(),
+             sensorValues->mgm3Rm3100Set.fieldStrengths.value,
+             sensorValues->mgm3Rm3100Set.fieldStrengths.isValid(),
+             sensorValues->imtqMgmSet.mtmRawNt.value, sensorValues->imtqMgmSet.mtmRawNt.isValid(),
+             now, &acsParameters->mgmHandlingParameters, gpsDataProcessed,
+             sensorValues->gpsSet.altitude.value,
+             (sensorValues->gpsSet.latitude.isValid() && sensorValues->gpsSet.longitude.isValid() &&
+              sensorValues->gpsSet.altitude.isValid()),
+             mgmDataProcessed);
+
+  processSus(sensorValues->susSets[0].channels.value, sensorValues->susSets[0].channels.isValid(),
+             sensorValues->susSets[1].channels.value, sensorValues->susSets[1].channels.isValid(),
+             sensorValues->susSets[2].channels.value, sensorValues->susSets[2].channels.isValid(),
+             sensorValues->susSets[3].channels.value, sensorValues->susSets[3].channels.isValid(),
+             sensorValues->susSets[4].channels.value, sensorValues->susSets[4].channels.isValid(),
+             sensorValues->susSets[5].channels.value, sensorValues->susSets[5].channels.isValid(),
+             sensorValues->susSets[6].channels.value, sensorValues->susSets[6].channels.isValid(),
+             sensorValues->susSets[7].channels.value, sensorValues->susSets[7].channels.isValid(),
+             sensorValues->susSets[8].channels.value, sensorValues->susSets[8].channels.isValid(),
+             sensorValues->susSets[9].channels.value, sensorValues->susSets[9].channels.isValid(),
+             sensorValues->susSets[10].channels.value, sensorValues->susSets[10].channels.isValid(),
+             sensorValues->susSets[11].channels.value, sensorValues->susSets[11].channels.isValid(),
+             now, &acsParameters->susHandlingParameters, &acsParameters->sunModelParameters,
+             susDataProcessed);
+
+  processGyr(
+      sensorValues->gyr0AdisSet.angVelocX.value, sensorValues->gyr0AdisSet.angVelocX.isValid(),
+      sensorValues->gyr0AdisSet.angVelocY.value, sensorValues->gyr0AdisSet.angVelocY.isValid(),
+      sensorValues->gyr0AdisSet.angVelocZ.value, sensorValues->gyr0AdisSet.angVelocZ.isValid(),
+      sensorValues->gyr1L3gSet.angVelocX.value, sensorValues->gyr1L3gSet.angVelocX.isValid(),
+      sensorValues->gyr1L3gSet.angVelocY.value, sensorValues->gyr1L3gSet.angVelocY.isValid(),
+      sensorValues->gyr1L3gSet.angVelocZ.value, sensorValues->gyr1L3gSet.angVelocZ.isValid(),
+      sensorValues->gyr2AdisSet.angVelocX.value, sensorValues->gyr2AdisSet.angVelocX.isValid(),
+      sensorValues->gyr2AdisSet.angVelocY.value, sensorValues->gyr2AdisSet.angVelocY.isValid(),
+      sensorValues->gyr2AdisSet.angVelocZ.value, sensorValues->gyr2AdisSet.angVelocZ.isValid(),
+      sensorValues->gyr3L3gSet.angVelocX.value, sensorValues->gyr3L3gSet.angVelocX.isValid(),
+      sensorValues->gyr3L3gSet.angVelocY.value, sensorValues->gyr3L3gSet.angVelocY.isValid(),
+      sensorValues->gyr3L3gSet.angVelocZ.value, sensorValues->gyr3L3gSet.angVelocZ.isValid(), now,
+      &acsParameters->gyrHandlingParameters, gyrDataProcessed);
+}

mission/controller/acs/SensorProcessing.h

@@ -0,0 +1,84 @@
+/*******************************
+ *	EIVE Flight Software Framework (FSFW)
+ * (c) 2022 IRS, Uni Stuttgart
+ *******************************/
+#ifndef SENSORPROCESSING_H_
+#define SENSORPROCESSING_H_
+
+#include <fsfw/returnvalues/returnvalue.h>
+#include <stdint.h>  //uint8_t
+#include <time.h>    /*purpose, timeval ?*/
+
+#include "../controllerdefinitions/AcsCtrlDefinitions.h"
+#include "AcsParameters.h"
+#include "SensorValues.h"
+#include "SusConverter.h"
+#include "config/classIds.h"
+
+class SensorProcessing {
+ public:
+  void reset();
+
+  SensorProcessing(AcsParameters *acsParameters_);
+  virtual ~SensorProcessing();
+
+  void process(timeval now, ACS::SensorValues *sensorValues,
+               acsctrl::MgmDataProcessed *mgmDataProcessed,
+               acsctrl::SusDataProcessed *susDataProcessed,
+               acsctrl::GyrDataProcessed *gyrDataProcessed,
+               acsctrl::GpsDataProcessed *gpsDataProcessed,
+               const AcsParameters *acsParameters);  // Will call protected functions
+ private:
+ protected:
+  // short description needed for every function
+  void processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value, bool mgm1valid,
+                  const float *mgm2Value, bool mgm2valid, const float *mgm3Value, bool mgm3valid,
+                  const float *mgm4Value, bool mgm4valid, timeval timeOfMgmMeasurement,
+                  const AcsParameters::MgmHandlingParameters *mgmParameters,
+                  acsctrl::GpsDataProcessed *gpsDataProcessed, const double gpsAltitude,
+                  bool gpsValid, acsctrl::MgmDataProcessed *mgmDataProcessed);
+
+  void processSus(const uint16_t *sus0Value, bool sus0valid, const uint16_t *sus1Value,
+                  bool sus1valid, const uint16_t *sus2Value, bool sus2valid,
+                  const uint16_t *sus3Value, bool sus3valid, const uint16_t *sus4Value,
+                  bool sus4valid, const uint16_t *sus5Value, bool sus5valid,
+                  const uint16_t *sus6Value, bool sus6valid, const uint16_t *sus7Value,
+                  bool sus7valid, const uint16_t *sus8Value, bool sus8valid,
+                  const uint16_t *sus9Value, bool sus9valid, const uint16_t *sus10Value,
+                  bool sus10valid, const uint16_t *sus11Value, bool sus11valid,
+                  timeval timeOfSusMeasurement,
+                  const AcsParameters::SusHandlingParameters *susParameters,
+                  const AcsParameters::SunModelParameters *sunModelParameters,
+                  acsctrl::SusDataProcessed *susDataProcessed);
+
+  void processGyr(const double gyr0axXvalue, bool gyr0axXvalid, const double gyr0axYvalue,
+                  bool gyr0axYvalid, const double gyr0axZvalue, bool gyr0axZvalid,
+                  const double gyr1axXvalue, bool gyr1axXvalid, const double gyr1axYvalue,
+                  bool gyr1axYvalid, const double gyr1axZvalue, bool gyr1axZvalid,
+                  const double gyr2axXvalue, bool gyr2axXvalid, const double gyr2axYvalue,
+                  bool gyr2axYvalid, const double gyr2axZvalue, bool gyr2axZvalid,
+                  const double gyr3axXvalue, bool gyr3axXvalid, const double gyr3axYvalue,
+                  bool gyr3axYvalid, const double gyr3axZvalue, bool gyr3axZvalid,
+                  timeval timeOfGyrMeasurement,
+                  const AcsParameters::GyrHandlingParameters *gyrParameters,
+                  acsctrl::GyrDataProcessed *gyrDataProcessed);
+
+  void processStr();
+
+  void processGps(const double gps0latitude, const double gps0longitude, const bool validGps,
+                  acsctrl::GpsDataProcessed *gpsDataProcessed);
+
+  double savedMgmVecTot[3];
+  timeval timeOfSavedMagFieldEst;
+  double savedSusVecTot[3];
+  timeval timeOfSavedSusDirEst;
+  bool validMagField;
+  bool validGcLatitude;
+
+  const float zeroVector[3] = {0.0, 0.0, 0.0};
+
+  SusConverter susConverter;
+  AcsParameters acsParameters;
+};
+
+#endif /*SENSORPROCESSING_H_*/

mission/controller/acs/SensorValues.cpp

@@ -0,0 +1,95 @@
+/*
+ * SensorValues.cpp
+ *
+ *  Created on: 30 Mar 2022
+ *      Author: rooob
+ */
+#include "SensorValues.h"
+
+#include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/datapoollocal/LocalPoolVector.h>
+#include <stddef.h>
+
+#include <cmath>
+
+namespace ACS {
+
+SensorValues::SensorValues() {}
+
+SensorValues::~SensorValues() {}
+
+ReturnValue_t SensorValues::updateMgm() {
+  ReturnValue_t result;
+  PoolReadGuard pgMgm0(&mgm0Lis3Set), pgMgm1(&mgm1Rm3100Set), pgMgm2(&mgm2Lis3Set),
+      pgMgm3(&mgm3Rm3100Set), pgImtq(&imtqMgmSet);
+
+  result = (pgMgm0.getReadResult() || pgMgm1.getReadResult() || pgMgm2.getReadResult() ||
+            pgMgm3.getReadResult() || pgImtq.getReadResult());
+  return result;
+}
+
+ReturnValue_t SensorValues::updateSus() {
+  ReturnValue_t result;
+  PoolReadGuard pgSus0(&susSets[0]), pgSus1(&susSets[1]), pgSus2(&susSets[2]), pgSus3(&susSets[3]),
+      pgSus4(&susSets[4]), pgSus5(&susSets[5]), pgSus6(&susSets[6]), pgSus7(&susSets[7]),
+      pgSus8(&susSets[8]), pgSus9(&susSets[9]), pgSus10(&susSets[10]), pgSus11(&susSets[11]);
+
+  result = (pgSus0.getReadResult() || pgSus1.getReadResult() || pgSus2.getReadResult() ||
+            pgSus3.getReadResult() || pgSus4.getReadResult() || pgSus5.getReadResult() ||
+            pgSus6.getReadResult() || pgSus7.getReadResult() || pgSus8.getReadResult() ||
+            pgSus9.getReadResult() || pgSus10.getReadResult() || pgSus11.getReadResult());
+  return result;
+}
+
+ReturnValue_t SensorValues::updateGyr() {
+  ReturnValue_t result;
+  PoolReadGuard pgGyr0(&gyr0AdisSet), pgGyr1(&gyr1L3gSet), pgGyr2(&gyr2AdisSet),
+      pgGyr3(&gyr3L3gSet);
+
+  result = (pgGyr0.getReadResult() || pgGyr1.getReadResult() || pgGyr2.getReadResult() ||
+            pgGyr3.getReadResult());
+  return result;
+}
+
+ReturnValue_t SensorValues::updateStr() {
+  ReturnValue_t result;
+  PoolReadGuard pgStr(&strSet);
+
+  result = pgStr.getReadResult();
+  return result;
+}
+
+ReturnValue_t SensorValues::updateGps() {
+  ReturnValue_t result;
+  PoolReadGuard pgGps(&gpsSet);
+
+  result = pgGps.getReadResult();
+  return result;
+}
+
+ReturnValue_t SensorValues::updateRw() {
+  ReturnValue_t result;
+  PoolReadGuard pgRw1(&rw1Set), pgRw2(&rw2Set), pgRw3(&rw3Set), pgRw4(&rw4Set);
+
+  result = (pgRw1.getReadResult() || pgRw2.getReadResult() || pgRw3.getReadResult() ||
+            pgRw4.getReadResult());
+  return result;
+}
+
+ReturnValue_t SensorValues::update() {
+  ReturnValue_t mgmUpdate = updateMgm();
+  ReturnValue_t susUpdate = updateSus();
+  ReturnValue_t gyrUpdate = updateGyr();
+  ReturnValue_t strUpdate = updateStr();
+  ReturnValue_t gpsUpdate = updateGps();
+  ReturnValue_t rwUpdate = updateRw();
+
+  if ((mgmUpdate && susUpdate && gyrUpdate && strUpdate && gpsUpdate && rwUpdate) ==
+      returnvalue::FAILED) {
+    return returnvalue::FAILED;
+  };
+  return returnvalue::OK;
+}
+
+}  // namespace ACS

mission/controller/acs/SensorValues.h

@@ -0,0 +1,72 @@
+#ifndef SENSORVALUES_H_
+#define SENSORVALUES_H_
+
+#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
+#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
+#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
+#include "mission/devices/devicedefinitions/GPSDefinitions.h"
+#include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
+#include "mission/devices/devicedefinitions/GyroL3GD20Definitions.h"
+#include "mission/devices/devicedefinitions/RwDefinitions.h"
+#include "mission/devices/devicedefinitions/SusDefinitions.h"
+#include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
+
+namespace ACS {
+
+class SensorValues {
+ public:
+  SensorValues();
+  virtual ~SensorValues();
+
+  ReturnValue_t update();
+  ReturnValue_t updateMgm();
+  ReturnValue_t updateSus();
+  ReturnValue_t updateGyr();
+  ReturnValue_t updateGps();
+  ReturnValue_t updateStr();
+  ReturnValue_t updateRw();
+
+  MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set =
+      MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER);
+  RM3100::Rm3100PrimaryDataset mgm1Rm3100Set =
+      RM3100::Rm3100PrimaryDataset(objects::MGM_1_RM3100_HANDLER);
+  MGMLIS3MDL::MgmPrimaryDataset mgm2Lis3Set =
+      MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER);
+  RM3100::Rm3100PrimaryDataset mgm3Rm3100Set =
+      RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
+  IMTQ::RawMtmMeasurementSet imtqMgmSet = IMTQ::RawMtmMeasurementSet(objects::IMTQ_HANDLER);
+
+  std::array<SUS::SusDataset, 12> susSets{
+      SUS::SusDataset(objects::SUS_0_N_LOC_XFYFZM_PT_XF),
+      SUS::SusDataset(objects::SUS_1_N_LOC_XBYFZM_PT_XB),
+      SUS::SusDataset(objects::SUS_2_N_LOC_XFYBZB_PT_YB),
+      SUS::SusDataset(objects::SUS_3_N_LOC_XFYBZF_PT_YF),
+      SUS::SusDataset(objects::SUS_4_N_LOC_XMYFZF_PT_ZF),
+      SUS::SusDataset(objects::SUS_5_N_LOC_XFYMZB_PT_ZB),
+      SUS::SusDataset(objects::SUS_6_R_LOC_XFYBZM_PT_XF),
+      SUS::SusDataset(objects::SUS_7_R_LOC_XBYBZM_PT_XB),
+      SUS::SusDataset(objects::SUS_8_R_LOC_XBYBZB_PT_YB),
+      SUS::SusDataset(objects::SUS_9_R_LOC_XBYBZB_PT_YF),
+      SUS::SusDataset(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
+      SUS::SusDataset(objects::SUS_11_R_LOC_XBYMZB_PT_ZB),
+  };
+
+  AdisGyroPrimaryDataset gyr0AdisSet = AdisGyroPrimaryDataset(objects::GYRO_0_ADIS_HANDLER);
+  GyroPrimaryDataset gyr1L3gSet = GyroPrimaryDataset(objects::GYRO_1_L3G_HANDLER);
+  AdisGyroPrimaryDataset gyr2AdisSet = AdisGyroPrimaryDataset(objects::GYRO_2_ADIS_HANDLER);
+  GyroPrimaryDataset gyr3L3gSet = GyroPrimaryDataset(objects::GYRO_3_L3G_HANDLER);
+
+  startracker::SolutionSet strSet = startracker::SolutionSet(objects::STAR_TRACKER);
+
+  GpsPrimaryDataset gpsSet = GpsPrimaryDataset(objects::GPS_CONTROLLER);
+
+  //  bool mgt0valid;
+
+  RwDefinitions::StatusSet rw1Set = RwDefinitions::StatusSet(objects::RW1);
+  RwDefinitions::StatusSet rw2Set = RwDefinitions::StatusSet(objects::RW2);
+  RwDefinitions::StatusSet rw3Set = RwDefinitions::StatusSet(objects::RW3);
+  RwDefinitions::StatusSet rw4Set = RwDefinitions::StatusSet(objects::RW4);
+};
+} /* namespace ACS */
+
+#endif /*ENSORVALUES_H_*/

mission/controller/acs/SusConverter.cpp

@@ -0,0 +1,129 @@
+/*
+ * SusConverter.cpp
+ *
+ *  Created on: 17.01.2022
+ *      Author: Timon Schwarz
+ */
+
+#include "SusConverter.h"
+
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/datapoollocal/LocalPoolVector.h>
+#include <fsfw/globalfunctions/math/VectorOperations.h>
+#include <math.h>  //for atan2
+
+#include <iostream>
+
+bool SusConverter::checkSunSensorData(const uint16_t susChannel[6]) {
+  if (susChannel[0] <= susChannelValueCheckLow || susChannel[0] > susChannelValueCheckHigh ||
+      susChannel[0] > susChannel[GNDREF]) {
+    return false;
+  }
+  if (susChannel[1] <= susChannelValueCheckLow || susChannel[1] > susChannelValueCheckHigh ||
+      susChannel[1] > susChannel[GNDREF]) {
+    return false;
+  };
+  if (susChannel[2] <= susChannelValueCheckLow || susChannel[2] > susChannelValueCheckHigh ||
+      susChannel[2] > susChannel[GNDREF]) {
+    return false;
+  };
+  if (susChannel[3] <= susChannelValueCheckLow || susChannel[3] > susChannelValueCheckHigh ||
+      susChannel[3] > susChannel[GNDREF]) {
+    return false;
+  };
+
+  susChannelValueSum =
+      4 * susChannel[GNDREF] - (susChannel[0] + susChannel[1] + susChannel[2] + susChannel[3]);
+  if ((susChannelValueSum < susChannelValueSumHigh) &&
+      (susChannelValueSum > susChannelValueSumLow)) {
+    return false;
+  };
+  return true;
+}
+
+void SusConverter::calcAngle(const uint16_t susChannel[6]) {
+  float xout, yout;
+  float s = 0.03;  // s=[mm] gap between diodes
+  uint8_t d = 5;   // d=[mm] edge length of the quadratic aperture
+  uint8_t h = 1;   // h=[mm] distance between diodes and aperture
+  int ch0, ch1, ch2, ch3;
+  // Substract measurement values from GNDREF zero current threshold
+  ch0 = susChannel[GNDREF] - susChannel[0];
+  ch1 = susChannel[GNDREF] - susChannel[1];
+  ch2 = susChannel[GNDREF] - susChannel[2];
+  ch3 = susChannel[GNDREF] - susChannel[3];
+
+  // Calculation of x and y
+  xout = ((d - s) / 2) * (ch2 - ch3 - ch0 + ch1) / (ch0 + ch1 + ch2 + ch3);  //[mm]
+  yout = ((d - s) / 2) * (ch2 + ch3 - ch0 - ch1) / (ch0 + ch1 + ch2 + ch3);  //[mm]
+
+  // Calculation of the angles
+  alphaBetaRaw[0] = atan2(xout, h) * (180 / M_PI);  //[°]
+  alphaBetaRaw[1] = atan2(yout, h) * (180 / M_PI);  //[°]
+}
+
+void SusConverter::calibration(const float coeffAlpha[9][10], const float coeffBeta[9][10]) {
+  uint8_t index;
+  float k, l;
+
+  // while loop iterates above all calibration cells to use the different calibration functions in
+  // each cell
+  k = 0;
+  while (k < 3) {
+    k++;
+    l = 0;
+    while (l < 3) {
+      l++;
+      // if-condition to check in which cell the data point has to be
+      if ((alphaBetaRaw[0] > ((completeCellWidth * ((k - 1) / 3)) - halfCellWidth) &&
+           alphaBetaRaw[0] < ((completeCellWidth * (k / 3)) - halfCellWidth)) &&
+          (alphaBetaRaw[1] > ((completeCellWidth * ((l - 1) / 3)) - halfCellWidth) &&
+           alphaBetaRaw[1] < ((completeCellWidth * (l / 3)) - halfCellWidth))) {
+        index = (3 * (k - 1) + l) - 1;  // calculate the index of the datapoint for the right cell
+        alphaBetaCalibrated[0] =
+            coeffAlpha[index][0] + coeffAlpha[index][1] * alphaBetaRaw[0] +
+            coeffAlpha[index][2] * alphaBetaRaw[1] +
+            coeffAlpha[index][3] * alphaBetaRaw[0] * alphaBetaRaw[0] +
+            coeffAlpha[index][4] * alphaBetaRaw[0] * alphaBetaRaw[1] +
+            coeffAlpha[index][5] * alphaBetaRaw[1] * alphaBetaRaw[1] +
+            coeffAlpha[index][6] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[0] +
+            coeffAlpha[index][7] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[1] +
+            coeffAlpha[index][8] * alphaBetaRaw[0] * alphaBetaRaw[1] * alphaBetaRaw[1] +
+            coeffAlpha[index][9] * alphaBetaRaw[1] * alphaBetaRaw[1] * alphaBetaRaw[1];  //[°]
+        alphaBetaCalibrated[1] =
+            coeffBeta[index][0] + coeffBeta[index][1] * alphaBetaRaw[0] +
+            coeffBeta[index][2] * alphaBetaRaw[1] +
+            coeffBeta[index][3] * alphaBetaRaw[0] * alphaBetaRaw[0] +
+            coeffBeta[index][4] * alphaBetaRaw[0] * alphaBetaRaw[1] +
+            coeffBeta[index][5] * alphaBetaRaw[1] * alphaBetaRaw[1] +
+            coeffBeta[index][6] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[0] +
+            coeffBeta[index][7] * alphaBetaRaw[0] * alphaBetaRaw[0] * alphaBetaRaw[1] +
+            coeffBeta[index][8] * alphaBetaRaw[0] * alphaBetaRaw[1] * alphaBetaRaw[1] +
+            coeffBeta[index][9] * alphaBetaRaw[1] * alphaBetaRaw[1] * alphaBetaRaw[1];  //[°]
+      }
+    }
+  }
+}
+
+float* SusConverter::calculateSunVector() {
+  // Calculate the normalized Sun Vector
+  sunVectorSensorFrame[0] = -(tan(alphaBetaCalibrated[0] * (M_PI / 180)) /
+                              (sqrt((powf(tan(alphaBetaCalibrated[0] * (M_PI / 180)), 2)) +
+                                    powf(tan((alphaBetaCalibrated[1] * (M_PI / 180))), 2) + (1))));
+  sunVectorSensorFrame[1] = -(tan(alphaBetaCalibrated[1] * (M_PI / 180)) /
+                              (sqrt(powf((tan(alphaBetaCalibrated[0] * (M_PI / 180))), 2) +
+                                    powf(tan((alphaBetaCalibrated[1] * (M_PI / 180))), 2) + (1))));
+  sunVectorSensorFrame[2] =
+      -(-1 / (sqrt(powf((tan(alphaBetaCalibrated[0] * (M_PI / 180))), 2) +
+                   powf((tan(alphaBetaCalibrated[1] * (M_PI / 180))), 2) + (1))));
+
+  return sunVectorSensorFrame;
+}
+
+float* SusConverter::getSunVectorSensorFrame(const uint16_t susChannel[6],
+                                             const float coeffAlpha[9][10],
+                                             const float coeffBeta[9][10]) {
+  calcAngle(susChannel);
+  calibration(coeffAlpha, coeffBeta);
+  return calculateSunVector();
+}

mission/controller/acs/SusConverter.h

@@ -0,0 +1,59 @@
+/*
+ * SusConverter.h
+ *
+ *  Created on: Sep 22, 2022
+ *      Author: marius
+ */
+
+#ifndef MISSION_CONTROLLER_ACS_SUSCONVERTER_H_
+#define MISSION_CONTROLLER_ACS_SUSCONVERTER_H_
+
+#include <fsfw/datapoollocal/LocalPoolVector.h>
+#include <stdint.h>
+
+#include "AcsParameters.h"
+
+class SusConverter {
+ public:
+  SusConverter() {}
+
+  bool checkSunSensorData(const uint16_t susChannel[6]);
+
+  void calcAngle(const uint16_t susChannel[6]);
+  void calibration(const float coeffAlpha[9][10], const float coeffBeta[9][10]);
+  float* calculateSunVector();
+
+  float* getSunVectorSensorFrame(const uint16_t susChannel[6], const float coeffAlpha[9][10],
+                                 const float coeffBeta[9][10]);
+
+ private:
+  float alphaBetaRaw[2];          //[°]
+                                  //  float coeffAlpha[9][10];
+                                  //  float coeffBeta[9][10];
+  float alphaBetaCalibrated[2];   //[°]
+  float sunVectorSensorFrame[3];  //[-]
+
+  bool validFlag[12] = {returnvalue::OK, returnvalue::OK, returnvalue::OK, returnvalue::OK,
+                        returnvalue::OK, returnvalue::OK, returnvalue::OK, returnvalue::OK,
+                        returnvalue::OK, returnvalue::OK, returnvalue::OK, returnvalue::OK};
+
+  static const uint8_t GNDREF = 4;
+  uint16_t susChannelValueCheckHigh =
+      4096;  //=2^12[Bit]high borderline for the channel values of one sun sensor for validity Check
+  uint8_t susChannelValueCheckLow =
+      0;  //[Bit]low borderline for the channel values of one sun sensor for validity Check
+  uint16_t susChannelValueSumHigh =
+      100;  // 4096[Bit]high borderline for check if the sun sensor is illuminated by the sun or by
+            // the reflection of sunlight from the moon/earth
+  uint8_t susChannelValueSumLow =
+      0;  //[Bit]low borderline for check if the sun sensor is illuminated
+          // by the sun or by the reflection of sunlight from the moon/earth
+  uint8_t completeCellWidth = 140,
+          halfCellWidth = 70;  //[°] Width of the calibration cells --> necessary for checking in
+                               // which cell a data point should be
+  uint16_t susChannelValueSum = 0;
+
+  AcsParameters acsParameters;
+};
+
+#endif /* MISSION_CONTROLLER_ACS_SUSCONVERTER_H_ */

mission/controller/acs/config/classIds.h

@@ -0,0 +1,18 @@
+#ifndef ACS_CONFIG_CLASSIDS_H_
+#define ACS_CONFIG_CLASSIDS_H_
+
+#include <common/config/eive/resultClassIds.h>
+#include <fsfw/returnvalues/FwClassIds.h>
+
+namespace CLASS_ID {
+enum eiveclassIds : uint8_t {
+  EIVE_CLASS_ID_START = COMMON_CLASS_ID_END,
+  KALMAN,
+  SAFE,
+  PTG,
+  DETUMBLE,
+  EIVE_CLASS_ID_END  // [EXPORT] : [END]
+};
+}
+
+#endif /* ACS_CONFIG_CLASSIDS_H_ */

mission/controller/acs/control/CMakeLists.txt

@@ -0,0 +1,2 @@
+target_sources(${LIB_EIVE_MISSION} PRIVATE Detumble.cpp PtgCtrl.cpp
+                                           SafeCtrl.cpp)

mission/controller/acs/control/Detumble.cpp

@@ -0,0 +1,52 @@
+
+/*
+ * Detumble.cpp
+ *
+ *  Created on: 17 Aug 2022
+ *      Author: Robin Marquardt
+ */
+
+#include "Detumble.h"
+
+#include <fsfw/globalfunctions/constants.h>
+#include <fsfw/globalfunctions/math/MatrixOperations.h>
+#include <fsfw/globalfunctions/math/QuaternionOperations.h>
+#include <fsfw/globalfunctions/math/VectorOperations.h>
+#include <fsfw/globalfunctions/sign.h>
+#include <math.h>
+
+#include "../util/MathOperations.h"
+
+Detumble::Detumble(AcsParameters *acsParameters_) { loadAcsParameters(acsParameters_); }
+
+Detumble::~Detumble() {}
+
+void Detumble::loadAcsParameters(AcsParameters *acsParameters_) {
+  detumbleCtrlParameters = &(acsParameters_->detumbleCtrlParameters);
+  magnetorquesParameter = &(acsParameters_->magnetorquesParameter);
+}
+
+ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool magRateValid,
+                                const double *magField, const bool magFieldValid, double *magMom) {
+  if (!magRateValid || !magFieldValid) {
+    return DETUMBLE_NO_SENSORDATA;
+  }
+  double gain = detumbleCtrlParameters->gainD;
+  double factor = -gain / pow(VectorOperations<double>::norm(magField, 3), 2);
+  VectorOperations<double>::mulScalar(magRate, factor, magMom, 3);
+  return returnvalue::OK;
+}
+
+ReturnValue_t Detumble::bangbangLaw(const double *magRate, const bool magRateValid,
+                                    double *magMom) {
+  if (!magRateValid) {
+    return DETUMBLE_NO_SENSORDATA;
+  }
+
+  double dipolMax = magnetorquesParameter->DipolMax;
+  for (int i = 0; i < 3; i++) {
+    magMom[i] = -dipolMax * sign(magRate[i]);
+  }
+
+  return returnvalue::OK;
+}

mission/controller/acs/control/Detumble.h

@@ -0,0 +1,43 @@
+/*
+ * Detumble.h
+ *
+ *  Created on: 17 Aug 2022
+ *      Author: Robin Marquardt
+ */
+
+#ifndef ACS_CONTROL_DETUMBLE_H_
+#define ACS_CONTROL_DETUMBLE_H_
+
+#include <fsfw/returnvalues/returnvalue.h>
+#include <stdio.h>
+#include <string.h>
+#include <time.h>
+
+#include "../AcsParameters.h"
+#include "../SensorValues.h"
+#include "../config/classIds.h"
+
+class Detumble {
+ public:
+  Detumble(AcsParameters *acsParameters_);
+  virtual ~Detumble();
+
+  static const uint8_t INTERFACE_ID = CLASS_ID::DETUMBLE;
+  static const ReturnValue_t DETUMBLE_NO_SENSORDATA = MAKE_RETURN_CODE(0x01);
+
+  /* @brief: Load AcsParameters für this class
+   * @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
+   */
+  void loadAcsParameters(AcsParameters *acsParameters_);
+
+  ReturnValue_t bDotLaw(const double *magRate, const bool magRateValid, const double *magField,
+                        const bool magFieldValid, double *magMom);
+
+  ReturnValue_t bangbangLaw(const double *magRate, const bool magRateValid, double *magMom);
+
+ private:
+  AcsParameters::DetumbleCtrlParameters *detumbleCtrlParameters;
+  AcsParameters::MagnetorquesParameter *magnetorquesParameter;
+};
+
+#endif /*ACS_CONTROL_DETUMBLE_H_*/

mission/controller/acs/control/PtgCtrl.cpp

@@ -0,0 +1,159 @@
+/*
+ * PtgCtrl.cpp
+ *
+ *  Created on: 17 Jul 2022
+ *      Author: Robin Marquardt
+ */
+
+#include "PtgCtrl.h"
+
+#include <fsfw/globalfunctions/constants.h>
+#include <fsfw/globalfunctions/math/MatrixOperations.h>
+#include <fsfw/globalfunctions/math/QuaternionOperations.h>
+#include <fsfw/globalfunctions/math/VectorOperations.h>
+#include <fsfw/globalfunctions/sign.h>
+#include <math.h>
+
+#include "../util/MathOperations.h"
+
+PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { loadAcsParameters(acsParameters_); }
+
+PtgCtrl::~PtgCtrl() {}
+
+void PtgCtrl::loadAcsParameters(AcsParameters *acsParameters_) {
+  pointingModeControllerParameters = &(acsParameters_->targetModeControllerParameters);
+  inertiaEIVE = &(acsParameters_->inertiaEIVE);
+  rwHandlingParameters = &(acsParameters_->rwHandlingParameters);
+  rwMatrices = &(acsParameters_->rwMatrices);
+}
+
+void PtgCtrl::ptgGroundstation(const double mode, const double *qError, const double *deltaRate,
+                               const double *rwPseudoInv, double *torqueRws) {
+  //------------------------------------------------------------------------------------------------
+  // Compute gain matrix K and P matrix
+  //------------------------------------------------------------------------------------------------
+  double om = pointingModeControllerParameters->om;
+  double zeta = pointingModeControllerParameters->zeta;
+  double qErrorMin = pointingModeControllerParameters->qiMin;
+  double omMax = pointingModeControllerParameters->omMax;
+
+  double cInt = 2 * om * zeta;
+  double kInt = 2 * pow(om, 2);
+
+  double qErrorLaw[3] = {0, 0, 0};
+
+  for (int i = 0; i < 3; i++) {
+    if (abs(qError[i]) < qErrorMin) {
+      qErrorLaw[i] = qErrorMin;
+    } else {
+      qErrorLaw[i] = abs(qError[i]);
+    }
+  }
+  double qErrorLawNorm = VectorOperations<double>::norm(qErrorLaw, 3);
+
+  double gain1 = cInt * omMax / qErrorLawNorm;
+  double gainVector[3] = {0, 0, 0};
+  VectorOperations<double>::mulScalar(qErrorLaw, gain1, gainVector, 3);
+
+  double gainMatrixDiagonal[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double gainMatrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  gainMatrixDiagonal[0][0] = gainVector[0];
+  gainMatrixDiagonal[1][1] = gainVector[1];
+  gainMatrixDiagonal[2][2] = gainVector[2];
+  MatrixOperations<double>::multiply(*gainMatrixDiagonal, *(inertiaEIVE->inertiaMatrix),
+                                     *gainMatrix, 3, 3, 3);
+
+  // Inverse of gainMatrix
+  double gainMatrixInverse[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  gainMatrixInverse[0][0] = 1 / gainMatrix[0][0];
+  gainMatrixInverse[1][1] = 1 / gainMatrix[1][1];
+  gainMatrixInverse[2][2] = 1 / gainMatrix[2][2];
+
+  double pMatrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MatrixOperations<double>::multiply(*gainMatrixInverse, *(inertiaEIVE->inertiaMatrix), *pMatrix, 3,
+                                     3, 3);
+  MatrixOperations<double>::multiplyScalar(*pMatrix, kInt, *pMatrix, 3, 3);
+
+  //------------------------------------------------------------------------------------------------
+  // Torque Calculations for the reaction wheels
+  //------------------------------------------------------------------------------------------------
+
+  double pError[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*pMatrix, qError, pError, 3, 3, 1);
+  double pErrorSign[3] = {0, 0, 0};
+
+  for (int i = 0; i < 3; i++) {
+    if (abs(pError[i]) > 1) {
+      pErrorSign[i] = sign(pError[i]);
+    } else {
+      pErrorSign[i] = pError[i];
+    }
+  }
+  //	Torque for quaternion error
+  double torqueQuat[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*gainMatrix, pErrorSign, torqueQuat, 3, 3, 1);
+  VectorOperations<double>::mulScalar(torqueQuat, -1, torqueQuat, 3);
+
+  //  Torque for rate error
+  double torqueRate[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*(inertiaEIVE->inertiaMatrix), deltaRate, torqueRate, 3, 3, 1);
+  VectorOperations<double>::mulScalar(torqueRate, cInt, torqueRate, 3);
+  VectorOperations<double>::mulScalar(torqueRate, -1, torqueRate, 3);
+
+  //	Final commanded Torque for every reaction wheel
+  double torque[3] = {0, 0, 0};
+  VectorOperations<double>::add(torqueRate, torqueQuat, torque, 3);
+  MatrixOperations<double>::multiply(rwPseudoInv, torque, torqueRws, 4, 3, 1);
+}
+
+void PtgCtrl::ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double *satRate,
+                              int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2,
+                              int32_t *speedRw3, double *mgtDpDes) {
+  if (!(magFieldEstValid) || !(pointingModeControllerParameters->desatOn)) {
+    mgtDpDes[0] = 0;
+    mgtDpDes[1] = 0;
+    mgtDpDes[2] = 0;
+    return;
+  }
+
+  //	calculating momentum of satellite and momentum of reaction wheels
+  double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
+  double momentumRwU[4] = {0, 0, 0, 0}, momentumRw[3] = {0, 0, 0};
+  VectorOperations<double>::mulScalar(speedRws, rwHandlingParameters->inertiaWheel, momentumRwU, 4);
+  MatrixOperations<double>::multiply(*(rwMatrices->alignmentMatrix), momentumRwU, momentumRw, 3, 4,
+                                     1);
+  double momentumSat[3] = {0, 0, 0}, momentumTotal[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*(inertiaEIVE->inertiaMatrix), satRate, momentumSat, 3, 3, 1);
+  VectorOperations<double>::add(momentumSat, momentumRw, momentumTotal, 3);
+  //	calculating momentum error
+  double deltaMomentum[3] = {0, 0, 0};
+  VectorOperations<double>::subtract(
+      momentumTotal, pointingModeControllerParameters->desatMomentumRef, deltaMomentum, 3);
+  //	resulting magnetic dipole command
+  double crossMomentumMagField[3] = {0, 0, 0};
+  VectorOperations<double>::cross(deltaMomentum, magFieldEst, crossMomentumMagField);
+  double normMag = VectorOperations<double>::norm(magFieldEst, 3), factor = 0;
+  factor = (pointingModeControllerParameters->deSatGainFactor) / normMag;
+  VectorOperations<double>::mulScalar(crossMomentumMagField, factor, mgtDpDes, 3);
+}
+
+void PtgCtrl::ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1,
+                           const int32_t *speedRw2, const int32_t *speedRw3, double *rwTrqNs) {
+  double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
+  double wheelMomentum[4] = {0, 0, 0, 0};
+  double rpmOffset[4] = {1, 1, 1, -1}, factor = 350 * 2 * Math::PI / 60;
+  // Conversion to [rad/s] for further calculations
+  VectorOperations<double>::mulScalar(rpmOffset, factor, rpmOffset, 4);
+  VectorOperations<double>::mulScalar(speedRws, 2 * Math::PI / 60, speedRws, 4);
+  double diffRwSpeed[4] = {0, 0, 0, 0};
+  VectorOperations<double>::subtract(speedRws, rpmOffset, diffRwSpeed, 4);
+  VectorOperations<double>::mulScalar(diffRwSpeed, rwHandlingParameters->inertiaWheel,
+                                      wheelMomentum, 4);
+  double gainNs = pointingModeControllerParameters->gainNullspace;
+  double nullSpaceMatrix[4][4] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::vecTransposeVecMatrix(rwMatrices->nullspace, rwMatrices->nullspace,
+                                                *nullSpaceMatrix, 4);
+  MatrixOperations<double>::multiply(*nullSpaceMatrix, wheelMomentum, rwTrqNs, 4, 4, 1);
+  VectorOperations<double>::mulScalar(rwTrqNs, gainNs, rwTrqNs, 4);
+  VectorOperations<double>::mulScalar(rwTrqNs, -1, rwTrqNs, 4);
+}

mission/controller/acs/control/PtgCtrl.h

@@ -0,0 +1,61 @@
+/*
+ * PtgCtrl.h
+ *
+ *  Created on: 17 Jul 2022
+ *      Author: Robin Marquardt
+ *
+ *      @brief: This class handles the pointing control mechanism. Calculation of an commanded
+ * torque for the reaction wheels, and magnetic Field strength for magnetorques for desaturation
+ *
+ *      @note: A description of the used algorithms can be found in
+ *      https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110
+ */
+
+#ifndef PTGCTRL_H_
+#define PTGCTRL_H_
+
+#include <stdio.h>
+#include <string.h>
+#include <time.h>
+
+#include "../AcsParameters.h"
+#include "../SensorValues.h"
+#include "../config/classIds.h"
+
+class PtgCtrl {
+ public:
+  /* @brief: Constructor
+   * @param: acsParameters_   Pointer to object which defines the ACS configuration parameters
+   */
+  PtgCtrl(AcsParameters *acsParameters_);
+  virtual ~PtgCtrl();
+
+  static const uint8_t INTERFACE_ID = CLASS_ID::PTG;
+  static const ReturnValue_t PTGCTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
+
+  /* @brief: Load AcsParameters für this class
+   * @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
+   */
+  void loadAcsParameters(AcsParameters *acsParameters_);
+
+  /* @brief: Calculates the needed torque for the pointing control mechanism
+   * @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
+   */
+  void ptgGroundstation(const double mode, const double *qError, const double *deltaRate,
+                        const double *rwPseudoInv, double *torqueRws);
+
+  void ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double *satRate,
+                       int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2, int32_t *speedRw3,
+                       double *mgtDpDes);
+
+  void ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
+                    const int32_t *speedRw3, double *rwTrqNs);
+
+ private:
+  AcsParameters::PointingModeControllerParameters *pointingModeControllerParameters;
+  AcsParameters::RwHandlingParameters *rwHandlingParameters;
+  AcsParameters::InertiaEIVE *inertiaEIVE;
+  AcsParameters::RwMatrices *rwMatrices;
+};
+
+#endif /* ACS_CONTROL_PTGCTRL_H_ */

mission/controller/acs/control/SafeCtrl.cpp

@@ -0,0 +1,178 @@
+/*
+ * SafeCtrl.cpp
+ *
+ *  Created on: 19 Apr 2022
+ *      Author: Robin Marquardt
+ */
+
+#include "SafeCtrl.h"
+
+#include <fsfw/globalfunctions/constants.h>
+#include <fsfw/globalfunctions/math/MatrixOperations.h>
+#include <fsfw/globalfunctions/math/QuaternionOperations.h>
+#include <fsfw/globalfunctions/math/VectorOperations.h>
+#include <math.h>
+
+#include "../util/MathOperations.h"
+
+SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) {
+  loadAcsParameters(acsParameters_);
+  MatrixOperations<double>::multiplyScalar(*(inertiaEIVE->inertiaMatrix), 10, *gainMatrixInertia, 3,
+                                           3);
+}
+
+SafeCtrl::~SafeCtrl() {}
+
+void SafeCtrl::loadAcsParameters(AcsParameters *acsParameters_) {
+  safeModeControllerParameters = &(acsParameters_->safeModeControllerParameters);
+  inertiaEIVE = &(acsParameters_->inertiaEIVE);
+}
+
+ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
+                                 double *magFieldModel, bool magFieldModelValid,
+                                 double *sunDirModel, bool sunDirModelValid, double *satRateMekf,
+                                 bool rateMekfValid, double *sunDirRef, double *satRatRef,
+                                 double *outputAngle, double *outputMagMomB, bool *outputValid) {
+  if (!quatBJValid || !magFieldModelValid || !sunDirModelValid || !rateMekfValid) {
+    *outputValid = false;
+    return SAFECTRL_MEKF_INPUT_INVALID;
+  }
+
+  double kRate = 0, kAlign = 0;
+  kRate = safeModeControllerParameters->k_rate_mekf;
+  kAlign = safeModeControllerParameters->k_align_mekf;
+
+  //	Calc sunDirB ,magFieldB with mekf output and model
+  double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::dcmFromQuat(quatBJ, *dcmBJ);
+  double sunDirB[3] = {0, 0, 0}, magFieldB[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmBJ, sunDirModel, sunDirB, 3, 3, 1);
+  MatrixOperations<double>::multiply(*dcmBJ, magFieldModel, magFieldB, 3, 3, 1);
+
+  double crossSun[3] = {0, 0, 0};
+
+  VectorOperations<double>::cross(sunDirRef, sunDirB, crossSun);
+  double normCrossSun = VectorOperations<double>::norm(crossSun, 3);
+
+  //	calc angle alpha between sunDirRef and sunDIr
+  double alpha = 0, dotSun = 0;
+  dotSun = VectorOperations<double>::dot(sunDirRef, sunDirB);
+  alpha = acos(dotSun);
+
+  //	Law Torque calculations
+  double torqueCmd[3] = {0, 0, 0}, torqueAlign[3] = {0, 0, 0}, torqueRate[3] = {0, 0, 0},
+         torqueAll[3] = {0, 0, 0};
+
+  double scalarFac = 0;
+  scalarFac = kAlign * alpha / normCrossSun;
+  VectorOperations<double>::mulScalar(crossSun, scalarFac, torqueAlign, 3);
+
+  double rateSafeMode[3] = {0, 0, 0};
+  VectorOperations<double>::subtract(satRateMekf, satRatRef, rateSafeMode, 3);
+  VectorOperations<double>::mulScalar(rateSafeMode, -kRate, torqueRate, 3);
+
+  VectorOperations<double>::add(torqueRate, torqueAlign, torqueAll, 3);
+  //	Adding factor of inertia for axes
+  MatrixOperations<double>::multiply(*gainMatrixInertia, torqueAll, torqueCmd, 3, 3, 1);
+
+  // MagMom B (orthogonal torque)
+  double torqueMgt[3] = {0, 0, 0};
+  VectorOperations<double>::cross(magFieldB, torqueCmd, torqueMgt);
+  double normMag = VectorOperations<double>::norm(magFieldB, 3);
+  VectorOperations<double>::mulScalar(torqueMgt, 1 / pow(normMag, 2), outputMagMomB, 3);
+
+  *outputAngle = alpha;
+  *outputValid = true;
+
+  return returnvalue::OK;
+}
+
+// Will be the version in worst case scenario in event of no working MEKF (nor RMUs)
+void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
+                          bool sunRateBValid, double *magFieldB, bool magFieldBValid,
+                          double *magRateB, bool magRateBValid, double *sunDirRef,
+                          double *satRateRef, double *outputAngle, double *outputMagMomB,
+                          bool *outputValid) {
+  // Check for invalid Inputs
+  if (!susDirBValid || !magFieldBValid || !magRateBValid) {
+    *outputValid = false;
+    return;
+  }
+
+  // normalize sunDir and magDir
+  double magDirB[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(magFieldB, magDirB, 3);
+  VectorOperations<double>::normalize(susDirB, susDirB, 3);
+
+  // Cosinus angle between sunDir and magDir
+  double cosAngleSunMag = VectorOperations<double>::dot(magDirB, susDirB);
+
+  // Rate parallel to sun direction and magnetic field direction
+  double rateParaSun = 0, rateParaMag = 0;
+  double dotSunRateMag = 0, dotmagRateSun = 0, rateFactor = 0;
+  dotSunRateMag = VectorOperations<double>::dot(sunRateB, magDirB);
+  dotmagRateSun = VectorOperations<double>::dot(magRateB, susDirB);
+  rateFactor = 1 - pow(cosAngleSunMag, 2);
+  rateParaSun = (dotmagRateSun + cosAngleSunMag * dotSunRateMag) / rateFactor;
+  rateParaMag = (dotSunRateMag + cosAngleSunMag * dotmagRateSun) / rateFactor;
+
+  // Full rate or estimate
+  double estSatRate[3] = {0, 0, 0};
+  double estSatRateMag[3] = {0, 0, 0}, estSatRateSun[3] = {0, 0, 0};
+  VectorOperations<double>::mulScalar(susDirB, rateParaSun, estSatRateSun, 3);
+  VectorOperations<double>::add(sunRateB, estSatRateSun, estSatRateSun, 3);
+  VectorOperations<double>::mulScalar(magDirB, rateParaMag, estSatRateMag, 3);
+  VectorOperations<double>::add(magRateB, estSatRateMag, estSatRateMag, 3);
+  VectorOperations<double>::add(estSatRateSun, estSatRateMag, estSatRate, 3);
+  VectorOperations<double>::mulScalar(estSatRate, 0.5, estSatRate, 3);
+
+  /* Only valid if angle between sun direction and magnetic field direction
+     is sufficiently large */
+
+  double sinAngle = 0;
+  sinAngle = sin(acos(cos(cosAngleSunMag)));
+
+  if (!(sinAngle > sin(safeModeControllerParameters->sunMagAngleMin * M_PI / 180))) {
+    return;
+  }
+
+  //    Rate for Torque Calculation
+  double diffRate[3] = {0, 0, 0}; /* ADD TO MONITORING */
+  VectorOperations<double>::subtract(estSatRate, satRateRef, diffRate, 3);
+
+  //    Torque Align calculation
+  double kRateNoMekf = 0, kAlignNoMekf = 0;
+  kRateNoMekf = safeModeControllerParameters->k_rate_no_mekf;
+  kAlignNoMekf = safeModeControllerParameters->k_align_no_mekf;
+
+  double cosAngleAlignErr = VectorOperations<double>::dot(sunDirRef, susDirB);
+  double crossSusSunRef[3] = {0, 0, 0};
+  VectorOperations<double>::cross(sunDirRef, susDirB, crossSusSunRef);
+  double sinAngleAlignErr = VectorOperations<double>::norm(crossSusSunRef, 3);
+
+  double torqueAlign[3] = {0, 0, 0};
+  double angleAlignErr = acos(cosAngleAlignErr);
+  double torqueAlignFactor = kAlignNoMekf * angleAlignErr / sinAngleAlignErr;
+  VectorOperations<double>::mulScalar(crossSusSunRef, torqueAlignFactor, torqueAlign, 3);
+
+  // Torque Rate Calculations
+  double torqueRate[3] = {0, 0, 0};
+  VectorOperations<double>::mulScalar(diffRate, -kRateNoMekf, torqueRate, 3);
+
+  // Final torque
+  double torqueB[3] = {0, 0, 0}, torqueAlignRate[3] = {0, 0, 0};
+  VectorOperations<double>::add(torqueRate, torqueAlign, torqueAlignRate, 3);
+  MatrixOperations<double>::multiply(*(inertiaEIVE->inertiaMatrix), torqueAlignRate, torqueB, 3, 3,
+                                     1);
+
+  // Magnetic moment
+  double magMomB[3] = {0, 0, 0};
+  double crossMagFieldTorque[3] = {0, 0, 0};
+  VectorOperations<double>::cross(magFieldB, torqueB, crossMagFieldTorque);
+  double magMomFactor = pow(VectorOperations<double>::norm(magFieldB, 3), 2);
+  VectorOperations<double>::mulScalar(crossMagFieldTorque, 1 / magMomFactor, magMomB, 3);
+
+  std::memcpy(outputMagMomB, magMomB, 3 * sizeof(double));
+  *outputAngle = angleAlignErr;
+  *outputValid = true;
+}

mission/controller/acs/control/SafeCtrl.h

@@ -0,0 +1,52 @@
+/*
+ * safeCtrl.h
+ *
+ *  Created on: 19 Apr 2022
+ *      Author: rooob
+ */
+
+#ifndef SAFECTRL_H_
+#define SAFECTRL_H_
+
+#include <stdio.h>
+#include <string.h>
+#include <time.h>
+
+#include "../AcsParameters.h"
+#include "../SensorValues.h"
+#include "../config/classIds.h"
+
+class SafeCtrl {
+ public:
+  SafeCtrl(AcsParameters *acsParameters_);
+  virtual ~SafeCtrl();
+
+  static const uint8_t INTERFACE_ID = CLASS_ID::SAFE;
+  static const ReturnValue_t SAFECTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
+
+  void loadAcsParameters(AcsParameters *acsParameters_);
+
+  ReturnValue_t safeMekf(timeval now, double *quatBJ, bool quatBJValid, double *magFieldModel,
+                         bool magFieldModelValid, double *sunDirModel, bool sunDirModelValid,
+                         double *satRateMekf, bool rateMekfValid, double *sunDirRef,
+                         double *satRatRef,  // From Guidance (!)
+                         double *outputAngle, double *outputMagMomB, bool *outputValid);
+
+  void safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
+                  bool sunRateBValid, double *magFieldB, bool magFieldBValid, double *magRateB,
+                  bool magRateBValid, double *sunDirRef, double *satRateRef, double *outputAngle,
+                  double *outputMagMomB, bool *outputValid);
+
+  void idleSunPointing();  // with reaction wheels
+
+ protected:
+ private:
+  AcsParameters::SafeModeControllerParameters *safeModeControllerParameters;
+  AcsParameters::InertiaEIVE *inertiaEIVE;
+  double gainMatrixInertia[3][3];
+
+  double magFieldBState[3];
+  timeval magFieldBStateTime;
+};
+
+#endif /* ACS_CONTROL_SAFECTRL_H_ */

mission/controller/acs/util/CholeskyDecomposition.h

@@ -0,0 +1,98 @@
+/*
+ * TinyEKF: Extended Kalman Filter for embedded processors
+ *
+ * Copyright (C) 2015 Simon D. Levy
+ *
+ * MIT License
+ */
+#ifndef CHOLESKYDECOMPOSITION_H_
+#define CHOLESKYDECOMPOSITION_H_
+#include <math.h>
+// typedef unsigned int uint8_t;
+
+template <typename T1, typename T2 = T1, typename T3 = T2>
+class CholeskyDecomposition {
+ public:
+  static int invertCholesky(T1 *matrix, T2 *result, T3 *tempMatrix, const uint8_t dimension) {
+    // https://github.com/simondlevy/TinyEKF/blob/master/tiny_ekf.c
+    return cholsl(matrix, result, tempMatrix, dimension);
+  }
+
+ private:
+  // https://github.com/simondlevy/TinyEKF/blob/master/tiny_ekf.c
+  static uint8_t choldc1(double *a, double *p, uint8_t n) {
+    int8_t i, j, k;
+    double sum;
+
+    for (i = 0; i < n; i++) {
+      for (j = i; j < n; j++) {
+        sum = a[i * n + j];
+        for (k = i - 1; k >= 0; k--) {
+          sum -= a[i * n + k] * a[j * n + k];
+        }
+        if (i == j) {
+          if (sum <= 0) {
+            return 1; /* error */
+          }
+          p[i] = sqrt(sum);
+        } else {
+          a[j * n + i] = sum / p[i];
+        }
+      }
+    }
+
+    return 0; /* success */
+  }
+
+  // https://github.com/simondlevy/TinyEKF/blob/master/tiny_ekf.c
+  static uint8_t choldcsl(double *A, double *a, double *p, uint8_t n) {
+    uint8_t i, j, k;
+    double sum;
+    for (i = 0; i < n; i++)
+      for (j = 0; j < n; j++) a[i * n + j] = A[i * n + j];
+    if (choldc1(a, p, n)) return 1;
+    for (i = 0; i < n; i++) {
+      a[i * n + i] = 1 / p[i];
+      for (j = i + 1; j < n; j++) {
+        sum = 0;
+        for (k = i; k < j; k++) {
+          sum -= a[j * n + k] * a[k * n + i];
+        }
+        a[j * n + i] = sum / p[j];
+      }
+    }
+
+    return 0; /* success */
+  }
+
+  // https://github.com/simondlevy/TinyEKF/blob/master/tiny_ekf.c
+  static uint8_t cholsl(double *A, double *a, double *p, uint8_t n) {
+    uint8_t i, j, k;
+    if (choldcsl(A, a, p, n)) return 1;
+    for (i = 0; i < n; i++) {
+      for (j = i + 1; j < n; j++) {
+        a[i * n + j] = 0.0;
+      }
+    }
+    for (i = 0; i < n; i++) {
+      a[i * n + i] *= a[i * n + i];
+      for (k = i + 1; k < n; k++) {
+        a[i * n + i] += a[k * n + i] * a[k * n + i];
+      }
+      for (j = i + 1; j < n; j++) {
+        for (k = j; k < n; k++) {
+          a[i * n + j] += a[k * n + i] * a[k * n + j];
+        }
+      }
+    }
+    for (i = 0; i < n; i++) {
+      for (j = 0; j < i; j++) {
+        a[i * n + j] = a[j * n + i];
+      }
+    }
+
+    return 0; /* success */
+  }
+};
+
+#endif /* CONTRIB_MATH_CHOLESKYDECOMPOSITION_H_ */

mission/controller/acs/util/MathOperations.h

@@ -0,0 +1,395 @@
+#ifndef MATH_MATHOPERATIONS_H_
+#define MATH_MATHOPERATIONS_H_
+
+#include <fsfw/src/fsfw/globalfunctions/constants.h>
+#include <fsfw/src/fsfw/globalfunctions/math/MatrixOperations.h>
+#include <math.h>
+#include <stdint.h>
+#include <string.h>
+#include <sys/time.h>
+
+#include <iostream>
+
+using namespace Math;
+
+template <typename T1, typename T2 = T1>
+class MathOperations {
+ public:
+  static void skewMatrix(const T1 vector[], T2 *result) {
+    // Input Dimension [3], Output [3][3]
+    result[0] = 0;
+    result[1] = -vector[2];
+    result[2] = vector[1];
+    result[3] = vector[2];
+    result[4] = 0;
+    result[5] = -vector[0];
+    result[6] = -vector[1];
+    result[7] = vector[0];
+    result[8] = 0;
+  }
+  static void vecTransposeVecMatrix(const T1 vector1[], const T1 transposeVector2[], T2 *result,
+                                    uint8_t size = 3) {
+    // Looks like MatrixOpertions::multiply is able to do the same thing
+    for (uint8_t resultColumn = 0; resultColumn < size; resultColumn++) {
+      for (uint8_t resultRow = 0; resultRow < size; resultRow++) {
+        result[resultColumn + size * resultRow] =
+            vector1[resultRow] * transposeVector2[resultColumn];
+      }
+    }
+    /*matrixSun[i][j] = sunEstB[i] * sunEstB[j];
+     matrixMag[i][j] = magEstB[i] * magEstB[j];
+     matrixSunMag[i][j] = sunEstB[i] * magEstB[j];
+     matrixMagSun[i][j] = magEstB[i] * sunEstB[j];*/
+  }
+
+  static void selectionSort(const T1 *matrix, T1 *result, uint8_t rowSize, uint8_t colSize) {
+    int min_idx;
+    T1 temp;
+    memcpy(result, matrix, rowSize * colSize * sizeof(*result));
+    // One by one move boundary of unsorted subarray
+    for (int k = 0; k < rowSize; k++) {
+      for (int i = 0; i < colSize - 1; i++) {
+        // Find the minimum element in unsorted array
+        min_idx = i;
+        for (int j = i + 1; j < colSize; j++) {
+          if (result[j + k * colSize] < result[min_idx + k * colSize]) {
+            min_idx = j;
+          }
+        }
+        // Swap the found minimum element with the first element
+        temp = result[i + k * colSize];
+        result[i + k * colSize] = result[min_idx + k * colSize];
+        result[min_idx + k * colSize] = temp;
+      }
+    }
+  }
+
+  static void convertDateToJD2000(const T1 time, T2 julianDate) {
+    // time = { Y, M, D, h, m,s}
+    // time in sec and microsec -> The Epoch (unixtime)
+    julianDate = 1721013.5 + 367 * time[0] - floor(7 / 4 * (time[0] + (time[1] + 9) / 12)) +
+                 floor(275 * time[1] / 9) + time[2] +
+                 (60 * time[3] + time[4] + (time(5) / 60)) / 1440;
+  }
+
+  static T1 convertUnixToJD2000(timeval time) {
+    // time = {{s},{us}}
+    T1 julianDate2000;
+    julianDate2000 = (time.tv_sec / 86400.0) + 2440587.5 - 2451545;
+    return julianDate2000;
+  }
+
+  static void dcmFromQuat(const T1 vector[], T1 *outputDcm) {
+    // convention q = [qx,qy,qz, qw]
+    outputDcm[0] = pow(vector[0], 2) - pow(vector[1], 2) - pow(vector[2], 2) + pow(vector[3], 2);
+    outputDcm[1] = 2 * (vector[0] * vector[1] + vector[2] * vector[3]);
+    outputDcm[2] = 2 * (vector[0] * vector[2] - vector[1] * vector[3]);
+
+    outputDcm[3] = 2 * (vector[1] * vector[0] - vector[2] * vector[3]);
+    outputDcm[4] = -pow(vector[0], 2) + pow(vector[1], 2) - pow(vector[2], 2) + pow(vector[3], 2);
+    outputDcm[5] = 2 * (vector[1] * vector[2] + vector[0] * vector[3]);
+
+    outputDcm[6] = 2 * (vector[2] * vector[0] + vector[1] * vector[3]);
+    outputDcm[7] = 2 * (vector[2] * vector[1] - vector[0] * vector[3]);
+    outputDcm[8] = -pow(vector[0], 2) - pow(vector[1], 2) + pow(vector[2], 2) + pow(vector[3], 2);
+  }
+
+  static void cartesianFromLatLongAlt(const T1 lat, const T1 longi, const T1 alt,
+                                      T2 *cartesianOutput) {
+    double radiusPolar = 6378137;
+    double radiusEqua = 6356752.314;
+
+    double eccentricity = sqrt(1 - pow(radiusPolar, 2) / pow(radiusEqua, 2));
+    double auxRadius = radiusEqua / sqrt(1 - pow(eccentricity, 2) * pow(sin(lat), 2));
+
+    cartesianOutput[0] = (auxRadius + alt) * cos(lat) * cos(longi);
+    cartesianOutput[1] = (auxRadius + alt) * cos(lat) * sin(longi);
+    cartesianOutput[2] = ((1 - pow(eccentricity, 2)) * auxRadius + alt) * sin(lat);
+  }
+
+  /* @brief:  dcmEJ() - calculates the transformation matrix between ECEF and ECI frame
+   * @param:  time   			Current time
+   * 			outputDcmEJ 	Transformation matrix from ECI (J) to ECEF (E) [3][3]
+   * @source: Fundamentals of Spacecraft Attitude Determination and Control, P.32ff
+   * 			Landis Markley and John L. Crassidis*/
+  static void dcmEJ(timeval time, T1 *outputDcmEJ) {
+    double JD2000Floor = 0;
+    double JD2000 = convertUnixToJD2000(time);
+    // Getting Julian Century from Day start : JD (Y,M,D,0,0,0)
+    JD2000Floor = floor(JD2000);
+    if ((JD2000 - JD2000Floor) < 0.5) {
+      JD2000Floor -= 0.5;
+    } else {
+      JD2000Floor += 0.5;
+    }
+
+    double JC2000 = JD2000Floor / 36525;
+    double sec = (JD2000 - JD2000Floor) * 86400;
+    double gmst = 0;  // greenwich mean sidereal time
+    gmst = 24110.54841 + 8640184.812866 * JC2000 + 0.093104 * pow(JC2000, 2) -
+           0.0000062 * pow(JC2000, 3) + 1.002737909350795 * sec;
+    double rest = gmst / 86400;
+    double FloorRest = floor(rest);
+    double secOfDay = rest - FloorRest;
+    secOfDay *= 86400;
+    gmst = secOfDay / 240 * PI / 180;
+
+    outputDcmEJ[0] = cos(gmst);
+    outputDcmEJ[1] = sin(gmst);
+    outputDcmEJ[2] = 0;
+    outputDcmEJ[3] = -sin(gmst);
+    outputDcmEJ[4] = cos(gmst);
+    outputDcmEJ[5] = 0;
+    outputDcmEJ[6] = 0;
+    outputDcmEJ[7] = 0;
+    outputDcmEJ[8] = 1;
+  }
+
+  /* @brief:  ecfToEciWithNutPre() - calculates the transformation matrix between ECEF and ECI frame
+   * 			give also the back the derivative of this matrix
+   * @param:  unixTime   		Current time in Unix format
+   * 			outputDcmEJ 	Transformation matrix from ECI (J) to ECEF (E) [3][3]
+   * 			outputDotDcmEJ	Derivative of transformation matrix [3][3]
+   * @source: Entwicklung einer Simulationsumgebung und robuster Algorithmen für das Lage- und
+                          Orbitkontrollsystem der Kleinsatelliten Flying Laptop und PERSEUS, P.244ff
+   * 			Oliver Zeile
+   *
+   https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110*/
+  static void ecfToEciWithNutPre(timeval unixTime, T1 *outputDcmEJ, T1 *outputDotDcmEJ) {
+    //		TT = UTC/Unix + 32.184s (TAI Difference) + 27 (Leap Seconds in UTC since 1972) + 10
+    //(initial Offset) 		International Atomic Time (TAI)
+
+    double JD2000UTC1 = convertUnixToJD2000(unixTime);
+
+    //		Julian Date / century from TT
+    timeval terestrialTime = unixTime;
+    terestrialTime.tv_sec = unixTime.tv_sec + 32.184 + 37;
+    double JD2000TT = convertUnixToJD2000(terestrialTime);
+    double JC2000TT = JD2000TT / 36525;
+
+    //-------------------------------------------------------------------------------------
+    //		Calculation of Transformation from earth rotation Theta
+    //-------------------------------------------------------------------------------------
+    double theta[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+    //		Earth Rotation angle
+    double era = 0;
+    era = 2 * PI * (0.779057273264 + 1.00273781191135448 * JD2000UTC1);
+    //		Greenwich Mean Sidereal Time
+    double gmst2000 = 0.014506 + 4612.15739966 * JC2000TT + 1.39667721 * pow(JC2000TT, 2) -
+                      0.00009344 * pow(JC2000TT, 3) + 0.00001882 * pow(JC2000TT, 4);
+    double arcsecFactor = 1 * PI / (180 * 3600);
+    gmst2000 *= arcsecFactor;
+    gmst2000 += era;
+
+    theta[0][0] = cos(gmst2000);
+    theta[0][1] = sin(gmst2000);
+    theta[0][2] = 0;
+    theta[1][0] = -sin(gmst2000);
+    theta[1][1] = cos(gmst2000);
+    theta[1][2] = 0;
+    theta[2][0] = 0;
+    theta[2][1] = 0;
+    theta[2][2] = 1;
+
+    //-------------------------------------------------------------------------------------
+    //		Calculation of Transformation from earth Precession P
+    //-------------------------------------------------------------------------------------
+    double precession[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+
+    double zeta = 2306.2181 * JC2000TT + 0.30188 * pow(JC2000TT, 2) + 0.017998 * pow(JC2000TT, 3);
+    double theta2 = 2004.3109 * JC2000TT - 0.42665 * pow(JC2000TT, 2) - 0.041833 * pow(JC2000TT, 3);
+    double ze = zeta + 0.79280 * pow(JC2000TT, 2) + 0.000205 * pow(JC2000TT, 3);
+
+    zeta *= arcsecFactor;
+    theta2 *= arcsecFactor;
+    ze *= arcsecFactor;
+
+    precession[0][0] = -sin(ze) * sin(zeta) + cos(ze) * cos(theta2) * cos(zeta);
+    precession[1][0] = cos(ze) * sin(zeta) + sin(ze) * cos(theta2) * cos(zeta);
+    precession[2][0] = sin(theta2) * cos(zeta);
+    precession[0][1] = -sin(ze) * cos(zeta) - cos(ze) * cos(theta2) * sin(zeta);
+    precession[1][1] = cos(ze) * cos(zeta) - sin(ze) * cos(theta2) * sin(zeta);
+    precession[2][1] = -sin(theta2) * sin(zeta);
+    precession[0][2] = -cos(ze) * sin(theta2);
+    precession[1][2] = -sin(ze) * sin(theta2);
+    precession[2][2] = cos(theta2);
+
+    //-------------------------------------------------------------------------------------
+    //		Calculation of Transformation from earth Nutation size
+    //-------------------------------------------------------------------------------------
+    double nutation[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+    //      lunar asc node
+    double Om = 125 * 3600 + 2 * 60 + 40.28 - (1934 * 3600 + 8 * 60 + 10.539) * JC2000TT +
+                7.455 * pow(JC2000TT, 2) + 0.008 * pow(JC2000TT, 3);
+    Om *= arcsecFactor;
+    //      delta psi approx
+    double dp = -17.2 * arcsecFactor * sin(Om);
+
+    //      delta eps approx
+    double de = 9.203 * arcsecFactor * cos(Om);
+
+    //        % true obliquity of the ecliptic eps p.71 (simplified)
+    double e = 23.43929111 * PI / 180 - 46.8150 / 3600 * JC2000TT * PI / 180;
+    ;
+
+    nutation[0][0] = cos(dp);
+    nutation[1][0] = cos(e + de) * sin(dp);
+    nutation[2][0] = sin(e + de) * sin(dp);
+    nutation[0][1] = -cos(e) * sin(dp);
+    nutation[1][1] = cos(e) * cos(e + de) * cos(dp) + sin(e) * sin(e + de);
+    nutation[2][1] = cos(e) * sin(e + de) * cos(dp) - sin(e) * cos(e + de);
+    nutation[0][2] = -sin(e) * sin(dp);
+    nutation[1][2] = sin(e) * cos(e + de) * cos(dp) - cos(e) * sin(e + de);
+    nutation[2][2] = sin(e) * sin(e + de) * cos(dp) + cos(e) * cos(e + de);
+
+    //-------------------------------------------------------------------------------------
+    //		Calculation of Derivative of rotation matrix from earth
+    //-------------------------------------------------------------------------------------
+    double thetaDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+    double dotMatrix[3][3] = {{0, 1, 0}, {-1, 0, 0}, {0, 0, 0}};
+    double omegaEarth = 0.000072921158553;
+    MatrixOperations<double>::multiply(*dotMatrix, *theta, *thetaDot, 3, 3, 3);
+    MatrixOperations<double>::multiplyScalar(*thetaDot, omegaEarth, *thetaDot, 3, 3);
+
+    //-------------------------------------------------------------------------------------
+    //		Calculation of transformation matrix and Derivative of transformation matrix
+    //-------------------------------------------------------------------------------------
+    double nutationPrecession[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+    MatrixOperations<double>::multiply(*nutation, *precession, *nutationPrecession, 3, 3, 3);
+    MatrixOperations<double>::multiply(*nutationPrecession, *theta, outputDcmEJ, 3, 3, 3);
+
+    MatrixOperations<double>::multiply(*nutationPrecession, *thetaDot, outputDotDcmEJ, 3, 3, 3);
+  }
+
+  static void inverseMatrixDimThree(const T1 *matrix, T1 *output) {
+    int i, j;
+    double determinant;
+    double mat[3][3] = {{matrix[0], matrix[1], matrix[2]},
+                        {matrix[3], matrix[4], matrix[5]},
+                        {matrix[6], matrix[7], matrix[8]}};
+
+    for (i = 0; i < 3; i++) {
+      determinant = determinant + (mat[0][i] * (mat[1][(i + 1) % 3] * mat[2][(i + 2) % 3] -
+                                                mat[1][(i + 2) % 3] * mat[2][(i + 1) % 3]));
+    }
+    //		cout<<"\size\ndeterminant: "<<determinant;
+    //		cout<<"\size\nInverse of matrix is: \size";
+    for (i = 0; i < 3; i++) {
+      for (j = 0; j < 3; j++) {
+        output[i * 3 + j] = ((mat[(j + 1) % 3][(i + 1) % 3] * mat[(j + 2) % 3][(i + 2) % 3]) -
+                             (mat[(j + 1) % 3][(i + 2) % 3] * mat[(j + 2) % 3][(i + 1) % 3])) /
+                            determinant;
+      }
+    }
+  }
+
+  static float matrixDeterminant(const T1 *inputMatrix, uint8_t size) {
+    float det = 0;
+    T1 matrix[size][size], submatrix[size - 1][size - 1];
+    for (uint8_t row = 0; row < size; row++) {
+      for (uint8_t col = 0; col < size; col++) {
+        matrix[row][col] = inputMatrix[row * size + col];
+      }
+    }
+    if (size == 2)
+      return ((matrix[0][0] * matrix[1][1]) - (matrix[1][0] * matrix[0][1]));
+    else {
+      for (uint8_t col = 0; col < size; col++) {
+        int subRow = 0;
+        for (uint8_t rowIndex = 1; rowIndex < size; rowIndex++) {
+          int subCol = 0;
+          for (uint8_t colIndex = 0; colIndex < size; colIndex++) {
+            if (colIndex == col) continue;
+            submatrix[subRow][subCol] = matrix[rowIndex][colIndex];
+            subCol++;
+          }
+          subRow++;
+        }
+        det += (pow(-1, col) * matrix[0][col] *
+                MathOperations<T1>::matrixDeterminant(*submatrix, size - 1));
+      }
+    }
+    return det;
+  }
+
+  static int inverseMatrix(const T1 *inputMatrix, T1 *inverse, uint8_t size) {
+    if (MathOperations<T1>::matrixDeterminant(inputMatrix, size) == 0) {
+      return 1;  // Matrix is singular and not invertible
+    }
+    T1 matrix[size][size], identity[size][size];
+    // reformat array to matrix
+    for (uint8_t row = 0; row < size; row++) {
+      for (uint8_t col = 0; col < size; col++) {
+        matrix[row][col] = inputMatrix[row * size + col];
+      }
+    }
+    // init identity matrix
+    std::memset(identity, 0.0, sizeof(identity));
+    for (uint8_t diag = 0; diag < size; diag++) {
+      identity[diag][diag] = 1;
+    }
+    // gauss-jordan algo
+    // sort matrix such as no diag entry shall be 0
+    // should not be needed as such a matrix has a det=0
+    for (uint8_t row = 0; row < size; row++) {
+      if (matrix[row][row] == 0.0) {
+        bool swaped = false;
+        uint8_t rowIndex = 0;
+        while ((rowIndex < size) && !swaped) {
+          if ((matrix[rowIndex][row] != 0.0) && (matrix[row][rowIndex] != 0.0)) {
+            for (uint8_t colIndex = 0; colIndex < size; colIndex++) {
+              std::swap(matrix[row][colIndex], matrix[rowIndex][colIndex]);
+              std::swap(identity[row][colIndex], identity[rowIndex][colIndex]);
+            }
+            swaped = true;
+          }
+          rowIndex++;
+        }
+        if (!swaped) {
+          return 1;  // matrix not invertible
+        }
+      }
+    }
+
+    for (int row = 0; row < size; row++) {
+      if (matrix[row][row] == 0.0) {
+        uint8_t rowIndex;
+        if (row == 0) {
+          rowIndex = size - 1;
+        } else {
+          rowIndex = row - 1;
+        }
+        for (uint8_t colIndex = 0; colIndex < size; colIndex++) {
+          std::swap(matrix[row][colIndex], matrix[rowIndex][colIndex]);
+          std::swap(identity[row][colIndex], identity[rowIndex][colIndex]);
+        }
+        row--;
+        if (row < 0) {
+          return 1;  // Matrix is not invertible
+        }
+      }
+    }
+    // remove non diag elements in matrix (jordan)
+    for (int row = 0; row < size; row++) {
+      for (int rowIndex = 0; rowIndex < size; rowIndex++) {
+        if (row != rowIndex) {
+          double ratio = matrix[rowIndex][row] / matrix[row][row];
+          for (int colIndex = 0; colIndex < size; colIndex++) {
+            matrix[rowIndex][colIndex] -= ratio * matrix[row][colIndex];
+            identity[rowIndex][colIndex] -= ratio * identity[row][colIndex];
+          }
+        }
+      }
+    }
+    // normalize rows in matrix (gauss)
+    for (int row = 0; row < size; row++) {
+      for (int col = 0; col < size; col++) {
+        identity[row][col] = identity[row][col] / matrix[row][row];
+      }
+    }
+    std::memcpy(inverse, identity, sizeof(identity));
+    return 0;  // successful inversion
+  }
+};
+
+#endif /* ACS_MATH_MATHOPERATIONS_H_ */

mission/controller/controllerdefinitions/AcsCtrlDefinitions.h

@@ -8,16 +8,37 @@
 
 namespace acsctrl {
 
-enum SetIds : uint32_t { MGM_SENSOR_DATA, SUS_SENSOR_DATA };
+enum SetIds : uint32_t {
+  MGM_SENSOR_DATA,
+  MGM_PROCESSED_DATA,
+  SUS_SENSOR_DATA,
+  SUS_PROCESSED_DATA,
+  GYR_SENSOR_DATA,
+  GYR_PROCESSED_DATA,
+  GPS_PROCESSED_DATA,
+  MEKF_DATA,
+  CTRL_VAL_DATA,
+  ACTUATOR_CMD_DATA
+};
 
 enum PoolIds : lp_id_t {
+  // MGM Raw
   MGM_0_LIS3_UT,
   MGM_1_RM3100_UT,
   MGM_2_LIS3_UT,
   MGM_3_RM3100_UT,
   MGM_IMTQ_CAL_NT,
   MGM_IMTQ_CAL_ACT_STATUS,
-
+  // MGM Processed
+  MGM_0_VEC,
+  MGM_1_VEC,
+  MGM_2_VEC,
+  MGM_3_VEC,
+  MGM_4_VEC,
+  MGM_VEC_TOT,
+  MGM_VEC_TOT_DERIVATIVE,
+  MAG_IGRF_MODEL,
+  // SUS Raw
   SUS_0_N_LOC_XFYFZM_PT_XF,
   SUS_6_R_LOC_XFYBZM_PT_XF,
 
@@ -35,15 +56,64 @@ enum PoolIds : lp_id_t {
 
   SUS_5_N_LOC_XFYMZB_PT_ZB,
   SUS_11_R_LOC_XBYMZB_PT_ZB,
+  // SUS Processed
+  SUS_0_VEC,
+  SUS_1_VEC,
+  SUS_2_VEC,
+  SUS_3_VEC,
+  SUS_4_VEC,
+  SUS_5_VEC,
+  SUS_6_VEC,
+  SUS_7_VEC,
+  SUS_8_VEC,
+  SUS_9_VEC,
+  SUS_10_VEC,
+  SUS_11_VEC,
+  SUS_VEC_TOT,
+  SUS_VEC_TOT_DERIVATIVE,
+  SUN_IJK_MODEL,
+  // GYR Raw
+  GYR_0_ADIS,
+  GYR_1_L3,
+  GYR_2_ADIS,
+  GYR_3_L3,
+  // GYR Processed
+  GYR_0_VEC,
+  GYR_1_VEC,
+  GYR_2_VEC,
+  GYR_3_VEC,
+  GYR_VEC_TOT,
+  // GPS Processed
+  GC_LATITUDE,
+  GD_LONGITUDE,
+  // MEKF
+  SAT_ROT_RATE_MEKF,
+  QUAT_MEKF,
+  // Ctrl Values
+  TGT_QUAT,
+  ERROR_QUAT,
+  ERROR_ANG,
+  // Actuator Cmd
+  RW_TARGET_TORQUE,
+  RW_TARGET_SPEED,
+  MTQ_TARGET_DIPOLE,
 };
 
-static constexpr uint8_t MGM_SET_ENTRIES = 10;
+static constexpr uint8_t MGM_SET_RAW_ENTRIES = 10;
-static constexpr uint8_t SUS_SET_ENTRIES = 12;
+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 = 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 CTRL_VAL_SET_ENTRIES = 3;
+static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
 
 /**
  * @brief   Raw MGM sensor data. Includes the IMTQ sensor data and actuator status.
  */
-class MgmDataRaw : public StaticLocalDataSet<MGM_SET_ENTRIES> {
+class MgmDataRaw : public StaticLocalDataSet<MGM_SET_RAW_ENTRIES> {
  public:
   MgmDataRaw(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_SENSOR_DATA) {}
 
@@ -60,9 +130,133 @@ class MgmDataRaw : public StaticLocalDataSet<MGM_SET_ENTRIES> {
  private:
 };
 
-class SusData : public StaticLocalDataSet<SUS_SET_ENTRIES> {
+class MgmDataProcessed : public StaticLocalDataSet<MGM_SET_PROCESSED_ENTRIES> {
  public:
-  SusData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, SUS_SENSOR_DATA) {}
+  MgmDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_PROCESSED_DATA) {}
+
+  lp_vec_t<float, 3> mgm0vec = lp_vec_t<float, 3>(sid.objectId, MGM_0_VEC, this);
+  lp_vec_t<float, 3> mgm1vec = lp_vec_t<float, 3>(sid.objectId, MGM_1_VEC, this);
+  lp_vec_t<float, 3> mgm2vec = lp_vec_t<float, 3>(sid.objectId, MGM_2_VEC, this);
+  lp_vec_t<float, 3> mgm3vec = lp_vec_t<float, 3>(sid.objectId, MGM_3_VEC, this);
+  lp_vec_t<float, 3> mgm4vec = lp_vec_t<float, 3>(sid.objectId, MGM_4_VEC, this);
+  lp_vec_t<double, 3> mgmVecTot = lp_vec_t<double, 3>(sid.objectId, MGM_VEC_TOT, this);
+  lp_vec_t<double, 3> mgmVecTotDerivative =
+      lp_vec_t<double, 3>(sid.objectId, MGM_VEC_TOT_DERIVATIVE, this);
+  lp_vec_t<double, 3> magIgrfModel = lp_vec_t<double, 3>(sid.objectId, MAG_IGRF_MODEL, this);
+
+ private:
+};
+
+class SusDataRaw : public StaticLocalDataSet<SUS_SET_RAW_ENTRIES> {
+ public:
+  SusDataRaw(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, SUS_SENSOR_DATA) {}
+
+  lp_vec_t<uint16_t, 6> sus0 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_0_N_LOC_XFYFZM_PT_XF, this);
+  lp_vec_t<uint16_t, 6> sus1 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_1_N_LOC_XBYFZM_PT_XB, this);
+  lp_vec_t<uint16_t, 6> sus2 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_2_N_LOC_XFYBZB_PT_YB, this);
+  lp_vec_t<uint16_t, 6> sus3 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_3_N_LOC_XFYBZF_PT_YF, this);
+  lp_vec_t<uint16_t, 6> sus4 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_4_N_LOC_XMYFZF_PT_ZF, this);
+  lp_vec_t<uint16_t, 6> sus5 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_5_N_LOC_XFYMZB_PT_ZB, this);
+  lp_vec_t<uint16_t, 6> sus6 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_6_R_LOC_XFYBZM_PT_XF, this);
+  lp_vec_t<uint16_t, 6> sus7 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_7_R_LOC_XBYBZM_PT_XB, this);
+  lp_vec_t<uint16_t, 6> sus8 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_8_R_LOC_XBYBZB_PT_YB, this);
+  lp_vec_t<uint16_t, 6> sus9 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_9_R_LOC_XBYBZB_PT_YF, this);
+  lp_vec_t<uint16_t, 6> sus10 =
+      lp_vec_t<uint16_t, 6>(sid.objectId, SUS_10_N_LOC_XMYBZF_PT_ZF, this);
+  lp_vec_t<uint16_t, 6> sus11 =
+      lp_vec_t<uint16_t, 6>(sid.objectId, SUS_11_R_LOC_XBYMZB_PT_ZB, this);
+
+ private:
+};
+
+class SusDataProcessed : public StaticLocalDataSet<SUS_SET_PROCESSED_ENTRIES> {
+ public:
+  SusDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, SUS_PROCESSED_DATA) {}
+
+  lp_vec_t<float, 3> sus0vec = lp_vec_t<float, 3>(sid.objectId, SUS_0_VEC, this);
+  lp_vec_t<float, 3> sus1vec = lp_vec_t<float, 3>(sid.objectId, SUS_1_VEC, this);
+  lp_vec_t<float, 3> sus2vec = lp_vec_t<float, 3>(sid.objectId, SUS_2_VEC, this);
+  lp_vec_t<float, 3> sus3vec = lp_vec_t<float, 3>(sid.objectId, SUS_3_VEC, this);
+  lp_vec_t<float, 3> sus4vec = lp_vec_t<float, 3>(sid.objectId, SUS_4_VEC, this);
+  lp_vec_t<float, 3> sus5vec = lp_vec_t<float, 3>(sid.objectId, SUS_5_VEC, this);
+  lp_vec_t<float, 3> sus6vec = lp_vec_t<float, 3>(sid.objectId, SUS_6_VEC, this);
+  lp_vec_t<float, 3> sus7vec = lp_vec_t<float, 3>(sid.objectId, SUS_7_VEC, this);
+  lp_vec_t<float, 3> sus8vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
+  lp_vec_t<float, 3> sus9vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
+  lp_vec_t<float, 3> sus10vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
+  lp_vec_t<float, 3> sus11vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
+  lp_vec_t<double, 3> susVecTot = lp_vec_t<double, 3>(sid.objectId, SUS_VEC_TOT, this);
+  lp_vec_t<double, 3> susVecTotDerivative =
+      lp_vec_t<double, 3>(sid.objectId, SUS_VEC_TOT_DERIVATIVE, this);
+  lp_vec_t<double, 3> sunIjkModel = lp_vec_t<double, 3>(sid.objectId, SUN_IJK_MODEL, this);
+
+ private:
+};
+
+class GyrDataRaw : public StaticLocalDataSet<GYR_SET_RAW_ENTRIES> {
+ public:
+  GyrDataRaw(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, GYR_SENSOR_DATA) {}
+
+  lp_vec_t<double, 3> gyr0Adis = lp_vec_t<double, 3>(sid.objectId, GYR_0_ADIS, this);
+  lp_vec_t<float, 3> gyr1L3 = lp_vec_t<float, 3>(sid.objectId, GYR_1_L3, this);
+  lp_vec_t<double, 3> gyr2Adis = lp_vec_t<double, 3>(sid.objectId, GYR_2_ADIS, this);
+  lp_vec_t<float, 3> gyr3L3 = lp_vec_t<float, 3>(sid.objectId, GYR_3_L3, this);
+
+ private:
+};
+
+class GyrDataProcessed : public StaticLocalDataSet<GYR_SET_PROCESSED_ENTRIES> {
+ public:
+  GyrDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, GYR_PROCESSED_DATA) {}
+
+  lp_vec_t<double, 3> gyr0vec = lp_vec_t<double, 3>(sid.objectId, GYR_0_VEC, this);
+  lp_vec_t<double, 3> gyr1vec = lp_vec_t<double, 3>(sid.objectId, GYR_1_VEC, this);
+  lp_vec_t<double, 3> gyr2vec = lp_vec_t<double, 3>(sid.objectId, GYR_2_VEC, this);
+  lp_vec_t<double, 3> gyr3vec = lp_vec_t<double, 3>(sid.objectId, GYR_3_VEC, this);
+  lp_vec_t<double, 3> gyrVecTot = lp_vec_t<double, 3>(sid.objectId, GYR_VEC_TOT, this);
+
+ private:
+};
+
+class GpsDataProcessed : public StaticLocalDataSet<GPS_SET_PROCESSED_ENTRIES> {
+ public:
+  GpsDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, GPS_PROCESSED_DATA) {}
+
+  lp_var_t<double> gcLatitude = lp_var_t<double>(sid.objectId, GC_LATITUDE, this);
+  lp_var_t<double> gdLongitude = lp_var_t<double>(sid.objectId, GD_LONGITUDE, this);
+
+ private:
+};
+
+class MekfData : public StaticLocalDataSet<MEKF_SET_ENTRIES> {
+ public:
+  MekfData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MEKF_DATA) {}
+
+  lp_vec_t<double, 4> quatMekf = lp_vec_t<double, 4>(sid.objectId, QUAT_MEKF, this);
+  lp_vec_t<double, 3> satRotRateMekf = lp_vec_t<double, 3>(sid.objectId, SAT_ROT_RATE_MEKF, this);
+
+ private:
+};
+
+class CtrlValData : public StaticLocalDataSet<CTRL_VAL_SET_ENTRIES> {
+ public:
+  CtrlValData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, CTRL_VAL_DATA) {}
+
+  lp_vec_t<double, 4> tgtQuat = lp_vec_t<double, 4>(sid.objectId, TGT_QUAT, this);
+  lp_vec_t<double, 4> errQuat = lp_vec_t<double, 4>(sid.objectId, ERROR_QUAT, this);
+  lp_var_t<double> errAng = lp_var_t<double>(sid.objectId, ERROR_ANG, this);
+
+ 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<int32_t, 4> rwTargetSpeed = lp_vec_t<int32_t, 4>(sid.objectId, RW_TARGET_SPEED, this);
+  lp_vec_t<int16_t, 3> mtqTargetDipole =
+      lp_vec_t<int16_t, 3>(sid.objectId, MTQ_TARGET_DIPOLE, this);
 
  private:
 };

mission/devices/devicedefinitions/GPSDefinitions.h

@@ -3,6 +3,7 @@
 
 #include "fsfw/datapoollocal/StaticLocalDataSet.h"
 #include "fsfw/devicehandlers/DeviceHandlerIF.h"
+#include "eive/eventSubsystemIds.h"
 
 namespace GpsHyperion {
 

unittest/controller/testThermalController.cpp

@@ -13,7 +13,7 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
   const object_id_t THERMAL_CONTROLLER_ID = 0x123;
 
   new TemperatureSensorsDummy();
-  new SusDummy();
+  //new SusDummy();
 
   // testEnvironment::initialize();