From 726e448af982b0f5b698039bc4be7f45c1791a4c Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 18 Aug 2022 18:18:44 +0200
Subject: [PATCH] fixes for IMTQ mgm reading

---
 mission/controller/AcsController.h |  2 +-
 mission/devices/IMTQHandler.cpp    | 47 ++++++++++++++++++++----------
 tmtc                               |  2 +-
 3 files changed, 33 insertions(+), 18 deletions(-)

diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h
index ce1bd7b0..3f3a4cc2 100644
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -48,7 +48,7 @@ class AcsController : public ExtendedControllerBase {
   PoolEntry<float> mgm1PoolVec = PoolEntry<float>(3);
   PoolEntry<float> mgm2PoolVec = PoolEntry<float>(3);
   PoolEntry<float> mgm3PoolVec = PoolEntry<float>(3);
-  PoolEntry<int32_t> imtqMgmPoolVec = PoolEntry<int32_t>(3);
+  PoolEntry<float> imtqMgmPoolVec = PoolEntry<float>(3);
   PoolEntry<uint8_t> imtqCalActStatus = PoolEntry<uint8_t>();
 
   void copyMgmData();
diff --git a/mission/devices/IMTQHandler.cpp b/mission/devices/IMTQHandler.cpp
index a421ae21..b01e64ed 100644
--- a/mission/devices/IMTQHandler.cpp
+++ b/mission/devices/IMTQHandler.cpp
@@ -778,22 +778,37 @@ void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
 
 void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
   PoolReadGuard rg(&rawMtmMeasurementSet);
-  int8_t offset = 2;
-  rawMtmMeasurementSet.mtmRawNt[0] = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
-                                 *(packet + offset + 1) << 8 | *(packet + offset)) *
-                                7.5;
-  offset += 4;
-  rawMtmMeasurementSet.mtmRawNt[1] = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
-                                 *(packet + offset + 1) << 8 | *(packet + offset)) *
-                                7.5;
-  offset += 4;
-  rawMtmMeasurementSet.mtmRawNt[2] = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
-                                 *(packet + offset + 1) << 8 | *(packet + offset)) *
-                                7.5;
-  offset += 4;
-  rawMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24) |
-                                             (*(packet + offset + 2) << 16) |
-                                             (*(packet + offset + 1) << 8) | (*(packet + offset));
+  unsigned int offset = 2;
+  size_t deSerLen = 16;
+  const uint8_t* dataStart = packet + offset;
+  int32_t xRaw = 0;
+  int32_t yRaw = 0;
+  int32_t zRaw = 0;
+  uint32_t coilActStatus = 0;
+  auto res = SerializeAdapter::deSerialize(&xRaw, &dataStart, &deSerLen,
+      SerializeIF::Endianness::LITTLE);
+  if(res != HasReturnvaluesIF::RETURN_OK) {
+    return;
+  }
+  res = SerializeAdapter::deSerialize(&yRaw, &dataStart, &deSerLen,
+      SerializeIF::Endianness::LITTLE);
+  if(res != HasReturnvaluesIF::RETURN_OK) {
+    return;
+  }
+  res = SerializeAdapter::deSerialize(&zRaw, &dataStart, &deSerLen,
+      SerializeIF::Endianness::LITTLE);
+  if(res != HasReturnvaluesIF::RETURN_OK) {
+    return;
+  }
+  res = SerializeAdapter::deSerialize(&coilActStatus, &dataStart, &deSerLen,
+        SerializeIF::Endianness::LITTLE);
+  if(res != HasReturnvaluesIF::RETURN_OK) {
+    return;
+  }
+  rawMtmMeasurementSet.mtmRawNt[0] = xRaw * 7.5;
+  rawMtmMeasurementSet.mtmRawNt[1] = yRaw * 7.5;
+  rawMtmMeasurementSet.mtmRawNt[2] = zRaw * 7.5;
+  rawMtmMeasurementSet.coilActuationStatus =  static_cast<uint8_t>(coilActStatus);
   rawMtmMeasurementSet.setValidity(true, true);
   if (debugMode) {
 #if OBSW_VERBOSE_LEVEL >= 1
diff --git a/tmtc b/tmtc
index 7a309b4d..7e2ea082 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 7a309b4dc1cfb02626bb0b4b3d4e4d06f8192506
+Subproject commit 7e2ea08277148873cfa541a872b5cc52bf06ee5e