added and implemented all ACS related DataPools to AcsController

mission/controller/AcsController.cpp

@@ -12,8 +12,15 @@ AcsController::AcsController(object_id_t objectId)
       detumble(&acsParameters),
       ptgCtrl(&acsParameters),
       detumbleCounter{0},
-      mgmData(this),
+      mgmDataRaw(this),
-      susData(this) {}
+      mgmDataProcessed(this),
+      susDataRaw(this),
+      susDataProcessed(this),
+      gyrDataRaw(this),
+      gyrDataProcessed(this),
+      gpsDataProcessed(this),
+      mekfData(this),
+      actuatorCmdData(this) {}
 
 ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
   return returnvalue::OK;
@@ -38,11 +45,9 @@ void AcsController::performControlOperation() {
           case SUBMODE_SAFE:
             performSafe();
             break;
-
           case SUBMODE_DETUMBLE:
             performDetumble();
             break;
-
           case SUBMODE_PTG_GS:
             performPointingCtrl();
             break;
@@ -55,17 +60,23 @@ void AcsController::performControlOperation() {
   }
 
   {
-    PoolReadGuard pg(&mgmData);
+    PoolReadGuard pg(&mgmDataRaw);
     if (pg.getReadResult() == returnvalue::OK) {
       copyMgmData();
     }
   }
   {
-    PoolReadGuard pg(&susData);
+    PoolReadGuard pg(&susDataRaw);
     if (pg.getReadResult() == returnvalue::OK) {
       copySusData();
     }
   }
+  {
+    PoolReadGuard pg(&gyrDataRaw);
+    if (pg.getReadResult() == returnvalue::OK) {
+      copyGyrData();
+    }
+  }
 
   // DEBUG : REMOVE AFTER COMPLETION
   mode = MODE_ON;
@@ -81,10 +92,13 @@ void AcsController::performSafe() {
   ACS::SensorValues sensorValues;
   ACS::OutputValues outputValues;
 
-  timeval now;  // We need to give the actual time here
+  timeval now;
+  Clock::getClock_timeval(&now);
+
   sensorProcessing.process(now, &sensorValues, &outputValues, &acsParameters);
   ReturnValue_t validMekf;
   navigation.useMekf(&sensorValues, &outputValues, &validMekf);  // DOES THIS WORK WITH VALID?
+
   // Give desired satellite rate and sun direction to align
   double satRateSafe[3] = {0, 0, 0}, sunTargetDir[3] = {0, 0, 0};
   guidance.getTargetParamsSafe(sunTargetDir, satRateSafe);
@@ -140,10 +154,12 @@ void AcsController::performDetumble() {
 
   timeval now;
   Clock::getClock_timeval(&now);
+  // Clock::getUptime(&now);
 
   sensorProcessing.process(now, &sensorValues, &outputValues, &acsParameters);
   ReturnValue_t validMekf;
   navigation.useMekf(&sensorValues, &outputValues, &validMekf);
+
   double magMomMtq[3] = {0, 0, 0};
   detumble.bDotLaw(outputValues.magneticFieldVectorDerivative,
                    &outputValues.magneticFieldVectorDerivativeValid, outputValues.magFieldEst,
@@ -172,11 +188,13 @@ void AcsController::performPointingCtrl() {
   ACS::SensorValues sensorValues;
   ACS::OutputValues outputValues;
 
-  timeval now;  // Übergabe ?
+  timeval now;
+  Clock::getClock_timeval(&now);
 
   sensorProcessing.process(now, &sensorValues, &outputValues, &acsParameters);
   ReturnValue_t validMekf;
   navigation.useMekf(&sensorValues, &outputValues, &validMekf);
+
   double targetQuat[4] = {0, 0, 0, 0}, refSatRate[3] = {0, 0, 0};
   guidance.targetQuatPtg(&sensorValues, &outputValues, now, targetQuat, refSatRate);
   double quatError[3] = {0, 0, 0}, deltaRate[3] = {0, 0, 0};
@@ -204,38 +222,106 @@ void AcsController::performPointingCtrl() {
 
 ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                      LocalDataPoolManager &poolManager) {
-  // MGM
+  // MGM Raw
-  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_LIS3_UT, &mgm0PoolVec);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_LIS3_UT, &mgm0VecRaw);
-  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_RM3100_UT, &mgm1PoolVec);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_RM3100_UT, &mgm1VecRaw);
-  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_LIS3_UT, &mgm2PoolVec);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_LIS3_UT, &mgm2VecRaw);
-  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3PoolVec);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3VecRaw);
-  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmPoolVec);
+  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});
-  // SUS
+  // MGM Processed
-  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, &sus0PoolVec);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_VEC, &mgm0VecProc);
-  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_N_LOC_XBYFZM_PT_XB, &sus1PoolVec);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_VEC, &mgm1VecProc);
-  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_2_N_LOC_XFYBZB_PT_YB, &sus2PoolVec);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_VEC, &mgm2VecProc);
-  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_3_N_LOC_XFYBZF_PT_YF, &sus3PoolVec);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_VEC, &mgm3VecProc);
-  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_4_N_LOC_XMYFZF_PT_ZF, &sus4PoolVec);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT, &mgmVecTot);
-  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_5_N_LOC_XFYMZB_PT_ZB, &sus5PoolVec);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_VEC_TOT_DERIVATIVE, &mgmVecTotDer);
-  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_6_R_LOC_XFYBZM_PT_XF, &sus6PoolVec);
+  localDataPoolMap.emplace(acsctrl::PoolIds::MAG_IGRF_MODEL, &magIgrf);
-  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_7_R_LOC_XBYBZM_PT_XB, &sus7PoolVec);
+  poolManager.subscribeForRegularPeriodicPacket({mgmDataProcessed.getSid(), false, 5.0});
-  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_8_R_LOC_XBYBZB_PT_YB, &sus8PoolVec);
+  // SUS Raw
-  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_R_LOC_XBYBZB_PT_YF, &sus9PoolVec);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, &sus0ValRaw);
-  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_N_LOC_XMYBZF_PT_ZF, &sus10PoolVec);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_N_LOC_XBYFZM_PT_XB, &sus1ValRaw);
-  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_R_LOC_XBYMZB_PT_ZB, &sus11PoolVec);
+  localDataPoolMap.emplace(acsctrl::PoolIds::SUS_2_N_LOC_XFYBZB_PT_YB, &sus2ValRaw);
-  poolManager.subscribeForRegularPeriodicPacket({susData.getSid(), false, 5.0});
+  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});
+  // 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:
-  } else if (sid == susData.getSid()) {
+      return &mgmDataRaw;
-    return &susData;
+    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::ACTUATOR_CMD_DATA:
+      return &actuatorCmdData;
+    default:
+      return nullptr;
   }
-  return nullptr;
 }
 
 ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
@@ -261,112 +347,195 @@ 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(&susSets[0]);
+    PoolReadGuard pg(&sensorValues.susSets[0]);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(susData.sus0.value, susSets[0].channels.value, 6 * sizeof(uint16_t));
+      std::memcpy(susDataRaw.sus0.value, sensorValues.susSets[0].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus0.setValid(sensorValues.susSets[0].channels.isValid());
     }
   }
   {
-    PoolReadGuard pg(&susSets[1]);
+    PoolReadGuard pg(&sensorValues.susSets[1]);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(susData.sus1.value, susSets[1].channels.value, 6 * sizeof(uint16_t));
+      std::memcpy(susDataRaw.sus1.value, sensorValues.susSets[1].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus1.setValid(sensorValues.susSets[1].channels.isValid());
     }
   }
   {
-    PoolReadGuard pg(&susSets[2]);
+    PoolReadGuard pg(&sensorValues.susSets[2]);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(susData.sus2.value, susSets[2].channels.value, 6 * sizeof(uint16_t));
+      std::memcpy(susDataRaw.sus2.value, sensorValues.susSets[2].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus2.setValid(sensorValues.susSets[2].channels.isValid());
     }
   }
   {
-    PoolReadGuard pg(&susSets[3]);
+    PoolReadGuard pg(&sensorValues.susSets[3]);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(susData.sus3.value, susSets[3].channels.value, 6 * sizeof(uint16_t));
+      std::memcpy(susDataRaw.sus3.value, sensorValues.susSets[3].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus3.setValid(sensorValues.susSets[3].channels.isValid());
     }
   }
   {
-    PoolReadGuard pg(&susSets[4]);
+    PoolReadGuard pg(&sensorValues.susSets[4]);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(susData.sus4.value, susSets[4].channels.value, 6 * sizeof(uint16_t));
+      std::memcpy(susDataRaw.sus4.value, sensorValues.susSets[4].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus4.setValid(sensorValues.susSets[4].channels.isValid());
     }
   }
   {
-    PoolReadGuard pg(&susSets[5]);
+    PoolReadGuard pg(&sensorValues.susSets[5]);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(susData.sus5.value, susSets[5].channels.value, 6 * sizeof(uint16_t));
+      std::memcpy(susDataRaw.sus5.value, sensorValues.susSets[5].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus5.setValid(sensorValues.susSets[5].channels.isValid());
     }
   }
   {
-    PoolReadGuard pg(&susSets[6]);
+    PoolReadGuard pg(&sensorValues.susSets[6]);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(susData.sus6.value, susSets[6].channels.value, 6 * sizeof(uint16_t));
+      std::memcpy(susDataRaw.sus6.value, sensorValues.susSets[6].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus6.setValid(sensorValues.susSets[6].channels.isValid());
     }
   }
   {
-    PoolReadGuard pg(&susSets[7]);
+    PoolReadGuard pg(&sensorValues.susSets[7]);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(susData.sus7.value, susSets[7].channels.value, 6 * sizeof(uint16_t));
+      std::memcpy(susDataRaw.sus7.value, sensorValues.susSets[7].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus7.setValid(sensorValues.susSets[7].channels.isValid());
     }
   }
   {
-    PoolReadGuard pg(&susSets[8]);
+    PoolReadGuard pg(&sensorValues.susSets[8]);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(susData.sus8.value, susSets[8].channels.value, 6 * sizeof(uint16_t));
+      std::memcpy(susDataRaw.sus8.value, sensorValues.susSets[8].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus8.setValid(sensorValues.susSets[8].channels.isValid());
     }
   }
   {
-    PoolReadGuard pg(&susSets[9]);
+    PoolReadGuard pg(&sensorValues.susSets[9]);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(susData.sus9.value, susSets[9].channels.value, 6 * sizeof(uint16_t));
+      std::memcpy(susDataRaw.sus9.value, sensorValues.susSets[9].channels.value,
-      sif::debug << susData.sus9.isValid() << std::endl;
+                  6 * sizeof(uint16_t));
-      sif::debug << susSets[9].channels.isValid() << std::endl;
+      susDataRaw.sus9.setValid(sensorValues.susSets[9].channels.isValid());
     }
   }
   {
-    PoolReadGuard pg(&susSets[10]);
+    PoolReadGuard pg(&sensorValues.susSets[10]);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(susData.sus10.value, susSets[10].channels.value, 6 * sizeof(uint16_t));
+      std::memcpy(susDataRaw.sus10.value, sensorValues.susSets[10].channels.value,
+                  6 * sizeof(uint16_t));
+      susDataRaw.sus10.setValid(sensorValues.susSets[10].channels.isValid());
     }
   }
   {
-    PoolReadGuard pg(&susSets[11]);
+    PoolReadGuard pg(&sensorValues.susSets[11]);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(susData.sus11.value, susSets[11].channels.value, 6 * sizeof(uint16_t));
+      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

@@ -8,6 +8,7 @@
 #include "acs/ActuatorCmd.h"
 #include "acs/Guidance.h"
 #include "acs/Navigation.h"
+#include "acs/OutputValues.h"
 #include "acs/SensorProcessing.h"
 #include "acs/control/Detumble.h"
 #include "acs/control/PtgCtrl.h"
@@ -64,62 +65,91 @@ class AcsController : public ExtendedControllerBase {
   void modeChanged(Mode_t mode, Submode_t submode);
   void announceMode(bool recursive);
 
+  /* ACS Datasets */
   // MGMs
-  acsctrl::MgmDataRaw mgmData;
+  acsctrl::MgmDataRaw mgmDataRaw;
-
+  PoolEntry<float> mgm0VecRaw = PoolEntry<float>(3);
-  MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set =
+  PoolEntry<float> mgm1VecRaw = PoolEntry<float>(3);
-      MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER);
+  PoolEntry<float> mgm2VecRaw = PoolEntry<float>(3);
-  RM3100::Rm3100PrimaryDataset mgm1Rm3100Set =
+  PoolEntry<float> mgm3VecRaw = PoolEntry<float>(3);
-      RM3100::Rm3100PrimaryDataset(objects::MGM_1_RM3100_HANDLER);
+  PoolEntry<float> imtqMgmVecRaw = PoolEntry<float>(3);
-  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);
-
-  PoolEntry<float> mgm0PoolVec = PoolEntry<float>(3);
-  PoolEntry<float> mgm1PoolVec = PoolEntry<float>(3);
-  PoolEntry<float> mgm2PoolVec = PoolEntry<float>(3);
-  PoolEntry<float> mgm3PoolVec = PoolEntry<float>(3);
-  PoolEntry<float> imtqMgmPoolVec = PoolEntry<float>(3);
   PoolEntry<uint8_t> imtqCalActStatus = PoolEntry<uint8_t>();
-
   void copyMgmData();
 
-  // Sun Sensors
+  acsctrl::MgmDataProcessed mgmDataProcessed;
-
+  PoolEntry<float> mgm0VecProc = PoolEntry<float>(3);
-  acsctrl::SusDataRaw susData;
+  PoolEntry<float> mgm1VecProc = PoolEntry<float>(3);
-
+  PoolEntry<float> mgm2VecProc = PoolEntry<float>(3);
-  std::array<SUS::SusDataset, 12> susSets{
+  PoolEntry<float> mgm3VecProc = PoolEntry<float>(3);
-      SUS::SusDataset(objects::SUS_0_N_LOC_XFYFZM_PT_XF),
+  PoolEntry<float> mgm4VecProc = PoolEntry<float>(3);
-      SUS::SusDataset(objects::SUS_1_N_LOC_XBYFZM_PT_XB),
+  PoolEntry<float> mgmVecTot = PoolEntry<float>(3);
-      SUS::SusDataset(objects::SUS_2_N_LOC_XFYBZB_PT_YB),
+  PoolEntry<float> mgmVecTotDer = PoolEntry<float>(3);
-      SUS::SusDataset(objects::SUS_3_N_LOC_XFYBZF_PT_YF),
+  PoolEntry<double> magIgrf = PoolEntry<double>(3);
-      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),
-  };
-
-  PoolEntry<uint16_t> sus0PoolVec = PoolEntry<uint16_t>(6);
-  PoolEntry<uint16_t> sus1PoolVec = PoolEntry<uint16_t>(6);
-  PoolEntry<uint16_t> sus2PoolVec = PoolEntry<uint16_t>(6);
-  PoolEntry<uint16_t> sus3PoolVec = PoolEntry<uint16_t>(6);
-  PoolEntry<uint16_t> sus4PoolVec = PoolEntry<uint16_t>(6);
-  PoolEntry<uint16_t> sus5PoolVec = PoolEntry<uint16_t>(6);
-  PoolEntry<uint16_t> sus6PoolVec = PoolEntry<uint16_t>(6);
-  PoolEntry<uint16_t> sus7PoolVec = PoolEntry<uint16_t>(6);
-  PoolEntry<uint16_t> sus8PoolVec = PoolEntry<uint16_t>(6);
-  PoolEntry<uint16_t> sus9PoolVec = PoolEntry<uint16_t>(6);
-  PoolEntry<uint16_t> sus10PoolVec = PoolEntry<uint16_t>(6);
-  PoolEntry<uint16_t> sus11PoolVec = PoolEntry<uint16_t>(6);
 
+  // SUSs
+  acsctrl::SusDataRaw susDataRaw;
+  PoolEntry<uint16_t> sus0ValRaw = PoolEntry<uint16_t>(6);
+  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<float> susVecTot = PoolEntry<float>(3);
+  PoolEntry<float> susVecTotDer = PoolEntry<float>(3);
+  PoolEntry<float> sunIjk = PoolEntry<float>(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);
+
+  // Actuator CMD
+  acsctrl::ActuatorCmdData actuatorCmdData;
+  PoolEntry<double> rwTargetTorque = PoolEntry<double>(4);
+  PoolEntry<double> rwTargetSpeed = PoolEntry<double>(4);
+  PoolEntry<double> mtqTargetDipole = PoolEntry<double>(3);
+
   // Initial delay to make sure all pool variables have been initialized their owners
   Countdown initialCountdown = Countdown(INIT_DELAY);
 };

mission/controller/acs/OutputValues.cpp

@@ -1,19 +1,9 @@
-/*
- * OutputValues.cpp
- *
- *  Created on: 30 Mar 2022
- *      Author: rooob
- */
 #include "OutputValues.h"
 
 namespace ACS {
 
-OutputValues::OutputValues(){
+OutputValues::OutputValues() {}
 
-}
+OutputValues::~OutputValues() {}
 
-OutputValues::~OutputValues(){
+}  // namespace ACS
-
-}
-
-}

mission/controller/acs/OutputValues.h

@@ -1,51 +1,44 @@
-/*
+#include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
- * OutputValues.h
+
- *
+#include "../controllerdefinitions/AcsCtrlDefinitions.h"
- *  Created on: 30 Mar 2022
- *      Author: rooob
- */
 
 #ifndef OUTPUTVALUES_H_
 #define OUTPUTVALUES_H_
 
-
 namespace ACS {
 
 class OutputValues {
+ public:
+  OutputValues();
+  virtual ~OutputValues();
 
-public:
+  double magFieldEst[3];  // sensor fusion (G)  // output value
+  bool magFieldEstValid;
+  double magFieldModel[3];  // igrf (IJK)  //
+  bool magFieldModelValid;
+  double magneticFieldVectorDerivative[3];
+  bool magneticFieldVectorDerivativeValid;
 
-	OutputValues();
+  bool mgmUpdated;  // ToDo: ????
-	virtual ~OutputValues();
 
-	double magFieldEst[3]; // sensor fusion (G)
+  double sunDirEst[3];  // sensor fusion (G)
-	bool magFieldEstValid;
+  bool sunDirEstValid;
-	double magFieldModel[3]; //igrf (IJK)
+  double sunDirModel[3];  // sun model (IJK)
-	bool magFieldModelValid;
+  bool sunDirModelValid;
-	double magneticFieldVectorDerivative[3];
-	bool magneticFieldVectorDerivativeValid;
 
-	bool mgmUpdated;
+  double quatMekfBJ[4];  // mekf
+  bool quatMekfBJValid;
 
-	double sunDirEst[3]; // sensor fusion (G)
+  double satRateEst[3];
-	bool sunDirEstValid;
+  bool satRateEstValid;
-	double sunDirModel[3]; //sun model (IJK)
+  double satRateMekf[3];  // after mekf with correction of bias
-	bool sunDirModelValid;
+  bool satRateMekfValid;
+  double sunVectorDerivative[3];
+  bool sunVectorDerivativeValid;
 
-	double quatMekfBJ[4]; //mekf
+  double gcLatitude;   // geocentric latitude, radian
-	bool quatMekfBJValid;
+  double gdLongitude;  // Radian longitude
-
-	double satRateEst[3];
-	bool satRateEstValid;
-	double satRateMekf[3]; // after mekf with correction of bias
-	bool satRateMekfValid;
-	double sunVectorDerivative[3];
-	bool sunVectorDerivativeValid;
-
-	double gcLatitude; // geocentric latitude, radian
-	double gdLongitude; // Radian longitude
 };
-}
+}  // namespace ACS
-
 
 #endif /*OUTPUTVALUES_H_*/

mission/controller/controllerdefinitions/AcsCtrlDefinitions.h

@@ -15,7 +15,7 @@ enum SetIds : uint32_t {
   SUS_PROCESSED_DATA,
   GYR_SENSOR_DATA,
   GYR_PROCESSED_DATA,
-  GPS_SENSOR_DATA,
+  GPS_PROCESSED_DATA,
   MEKF_DATA,
   ACTUATOR_CMD_DATA
 };
@@ -214,8 +214,7 @@ class GyrDataProcessed : public StaticLocalDataSet<GYR_SET_PROCESSED_ENTRIES> {
 
 class GpsDataProcessed : public StaticLocalDataSet<GPS_SET_PROCESSED_ENTRIES> {
  public:
-  GpsDataProcessed(HasLocalDataPoolIF* hkOwner)
+  GpsDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, GPS_PROCESSED_DATA) {}
-      : StaticLocalDataSet(hkOwner, GPS_SET_PROCESSED_ENTRIES) {}
 
   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);