Merge remote-tracking branch 'origin/develop' into heater_handling
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@ -8,16 +8,37 @@
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namespace acsctrl {
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enum SetIds : uint32_t { MGM_SENSOR_DATA, SUS_SENSOR_DATA };
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enum SetIds : uint32_t {
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MGM_SENSOR_DATA,
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MGM_PROCESSED_DATA,
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SUS_SENSOR_DATA,
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SUS_PROCESSED_DATA,
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GYR_SENSOR_DATA,
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GYR_PROCESSED_DATA,
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GPS_PROCESSED_DATA,
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MEKF_DATA,
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CTRL_VAL_DATA,
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ACTUATOR_CMD_DATA
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};
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enum PoolIds : lp_id_t {
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// MGM Raw
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MGM_0_LIS3_UT,
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MGM_1_RM3100_UT,
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MGM_2_LIS3_UT,
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MGM_3_RM3100_UT,
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MGM_IMTQ_CAL_NT,
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MGM_IMTQ_CAL_ACT_STATUS,
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// MGM Processed
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MGM_0_VEC,
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MGM_1_VEC,
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MGM_2_VEC,
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MGM_3_VEC,
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MGM_4_VEC,
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MGM_VEC_TOT,
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MGM_VEC_TOT_DERIVATIVE,
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MAG_IGRF_MODEL,
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// SUS Raw
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SUS_0_N_LOC_XFYFZM_PT_XF,
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SUS_6_R_LOC_XFYBZM_PT_XF,
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@ -35,15 +56,64 @@ enum PoolIds : lp_id_t {
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SUS_5_N_LOC_XFYMZB_PT_ZB,
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SUS_11_R_LOC_XBYMZB_PT_ZB,
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// SUS Processed
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SUS_0_VEC,
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SUS_1_VEC,
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SUS_2_VEC,
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SUS_3_VEC,
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SUS_4_VEC,
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SUS_5_VEC,
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SUS_6_VEC,
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SUS_7_VEC,
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SUS_8_VEC,
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SUS_9_VEC,
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SUS_10_VEC,
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SUS_11_VEC,
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SUS_VEC_TOT,
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SUS_VEC_TOT_DERIVATIVE,
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SUN_IJK_MODEL,
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// GYR Raw
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GYR_0_ADIS,
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GYR_1_L3,
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GYR_2_ADIS,
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GYR_3_L3,
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// GYR Processed
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GYR_0_VEC,
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GYR_1_VEC,
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GYR_2_VEC,
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GYR_3_VEC,
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GYR_VEC_TOT,
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// GPS Processed
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GC_LATITUDE,
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GD_LONGITUDE,
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// MEKF
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SAT_ROT_RATE_MEKF,
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QUAT_MEKF,
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// Ctrl Values
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TGT_QUAT,
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ERROR_QUAT,
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ERROR_ANG,
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// Actuator Cmd
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RW_TARGET_TORQUE,
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RW_TARGET_SPEED,
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MTQ_TARGET_DIPOLE,
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};
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static constexpr uint8_t MGM_SET_ENTRIES = 10;
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static constexpr uint8_t SUS_SET_ENTRIES = 12;
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static constexpr uint8_t MGM_SET_RAW_ENTRIES = 10;
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static constexpr uint8_t MGM_SET_PROCESSED_ENTRIES = 8;
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static constexpr uint8_t SUS_SET_RAW_ENTRIES = 12;
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static constexpr uint8_t SUS_SET_PROCESSED_ENTRIES = 15;
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static constexpr uint8_t GYR_SET_RAW_ENTRIES = 4;
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static constexpr uint8_t GYR_SET_PROCESSED_ENTRIES = 5;
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static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 2;
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static constexpr uint8_t MEKF_SET_ENTRIES = 2;
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static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 3;
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static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
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/**
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* @brief Raw MGM sensor data. Includes the IMTQ sensor data and actuator status.
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*/
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class MgmDataRaw : public StaticLocalDataSet<MGM_SET_ENTRIES> {
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class MgmDataRaw : public StaticLocalDataSet<MGM_SET_RAW_ENTRIES> {
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public:
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MgmDataRaw(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_SENSOR_DATA) {}
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@ -60,9 +130,133 @@ class MgmDataRaw : public StaticLocalDataSet<MGM_SET_ENTRIES> {
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private:
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};
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class SusData : public StaticLocalDataSet<SUS_SET_ENTRIES> {
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class MgmDataProcessed : public StaticLocalDataSet<MGM_SET_PROCESSED_ENTRIES> {
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public:
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SusData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, SUS_SENSOR_DATA) {}
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MgmDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_PROCESSED_DATA) {}
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lp_vec_t<float, 3> mgm0vec = lp_vec_t<float, 3>(sid.objectId, MGM_0_VEC, this);
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lp_vec_t<float, 3> mgm1vec = lp_vec_t<float, 3>(sid.objectId, MGM_1_VEC, this);
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lp_vec_t<float, 3> mgm2vec = lp_vec_t<float, 3>(sid.objectId, MGM_2_VEC, this);
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lp_vec_t<float, 3> mgm3vec = lp_vec_t<float, 3>(sid.objectId, MGM_3_VEC, this);
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lp_vec_t<float, 3> mgm4vec = lp_vec_t<float, 3>(sid.objectId, MGM_4_VEC, this);
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lp_vec_t<double, 3> mgmVecTot = lp_vec_t<double, 3>(sid.objectId, MGM_VEC_TOT, this);
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lp_vec_t<double, 3> mgmVecTotDerivative =
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lp_vec_t<double, 3>(sid.objectId, MGM_VEC_TOT_DERIVATIVE, this);
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lp_vec_t<double, 3> magIgrfModel = lp_vec_t<double, 3>(sid.objectId, MAG_IGRF_MODEL, this);
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private:
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};
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class SusDataRaw : public StaticLocalDataSet<SUS_SET_RAW_ENTRIES> {
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public:
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SusDataRaw(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, SUS_SENSOR_DATA) {}
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lp_vec_t<uint16_t, 6> sus0 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_0_N_LOC_XFYFZM_PT_XF, this);
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lp_vec_t<uint16_t, 6> sus1 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_1_N_LOC_XBYFZM_PT_XB, this);
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lp_vec_t<uint16_t, 6> sus2 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_2_N_LOC_XFYBZB_PT_YB, this);
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lp_vec_t<uint16_t, 6> sus3 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_3_N_LOC_XFYBZF_PT_YF, this);
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lp_vec_t<uint16_t, 6> sus4 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_4_N_LOC_XMYFZF_PT_ZF, this);
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lp_vec_t<uint16_t, 6> sus5 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_5_N_LOC_XFYMZB_PT_ZB, this);
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lp_vec_t<uint16_t, 6> sus6 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_6_R_LOC_XFYBZM_PT_XF, this);
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lp_vec_t<uint16_t, 6> sus7 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_7_R_LOC_XBYBZM_PT_XB, this);
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lp_vec_t<uint16_t, 6> sus8 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_8_R_LOC_XBYBZB_PT_YB, this);
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lp_vec_t<uint16_t, 6> sus9 = lp_vec_t<uint16_t, 6>(sid.objectId, SUS_9_R_LOC_XBYBZB_PT_YF, this);
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lp_vec_t<uint16_t, 6> sus10 =
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lp_vec_t<uint16_t, 6>(sid.objectId, SUS_10_N_LOC_XMYBZF_PT_ZF, this);
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lp_vec_t<uint16_t, 6> sus11 =
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lp_vec_t<uint16_t, 6>(sid.objectId, SUS_11_R_LOC_XBYMZB_PT_ZB, this);
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private:
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};
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class SusDataProcessed : public StaticLocalDataSet<SUS_SET_PROCESSED_ENTRIES> {
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public:
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SusDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, SUS_PROCESSED_DATA) {}
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lp_vec_t<float, 3> sus0vec = lp_vec_t<float, 3>(sid.objectId, SUS_0_VEC, this);
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lp_vec_t<float, 3> sus1vec = lp_vec_t<float, 3>(sid.objectId, SUS_1_VEC, this);
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lp_vec_t<float, 3> sus2vec = lp_vec_t<float, 3>(sid.objectId, SUS_2_VEC, this);
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lp_vec_t<float, 3> sus3vec = lp_vec_t<float, 3>(sid.objectId, SUS_3_VEC, this);
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lp_vec_t<float, 3> sus4vec = lp_vec_t<float, 3>(sid.objectId, SUS_4_VEC, this);
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lp_vec_t<float, 3> sus5vec = lp_vec_t<float, 3>(sid.objectId, SUS_5_VEC, this);
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lp_vec_t<float, 3> sus6vec = lp_vec_t<float, 3>(sid.objectId, SUS_6_VEC, this);
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lp_vec_t<float, 3> sus7vec = lp_vec_t<float, 3>(sid.objectId, SUS_7_VEC, this);
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lp_vec_t<float, 3> sus8vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
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lp_vec_t<float, 3> sus9vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
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lp_vec_t<float, 3> sus10vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
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lp_vec_t<float, 3> sus11vec = lp_vec_t<float, 3>(sid.objectId, SUS_8_VEC, this);
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lp_vec_t<double, 3> susVecTot = lp_vec_t<double, 3>(sid.objectId, SUS_VEC_TOT, this);
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lp_vec_t<double, 3> susVecTotDerivative =
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lp_vec_t<double, 3>(sid.objectId, SUS_VEC_TOT_DERIVATIVE, this);
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lp_vec_t<double, 3> sunIjkModel = lp_vec_t<double, 3>(sid.objectId, SUN_IJK_MODEL, this);
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private:
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};
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class GyrDataRaw : public StaticLocalDataSet<GYR_SET_RAW_ENTRIES> {
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public:
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GyrDataRaw(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, GYR_SENSOR_DATA) {}
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lp_vec_t<double, 3> gyr0Adis = lp_vec_t<double, 3>(sid.objectId, GYR_0_ADIS, this);
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lp_vec_t<float, 3> gyr1L3 = lp_vec_t<float, 3>(sid.objectId, GYR_1_L3, this);
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lp_vec_t<double, 3> gyr2Adis = lp_vec_t<double, 3>(sid.objectId, GYR_2_ADIS, this);
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lp_vec_t<float, 3> gyr3L3 = lp_vec_t<float, 3>(sid.objectId, GYR_3_L3, this);
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private:
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};
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class GyrDataProcessed : public StaticLocalDataSet<GYR_SET_PROCESSED_ENTRIES> {
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public:
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GyrDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, GYR_PROCESSED_DATA) {}
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lp_vec_t<double, 3> gyr0vec = lp_vec_t<double, 3>(sid.objectId, GYR_0_VEC, this);
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lp_vec_t<double, 3> gyr1vec = lp_vec_t<double, 3>(sid.objectId, GYR_1_VEC, this);
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lp_vec_t<double, 3> gyr2vec = lp_vec_t<double, 3>(sid.objectId, GYR_2_VEC, this);
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lp_vec_t<double, 3> gyr3vec = lp_vec_t<double, 3>(sid.objectId, GYR_3_VEC, this);
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lp_vec_t<double, 3> gyrVecTot = lp_vec_t<double, 3>(sid.objectId, GYR_VEC_TOT, this);
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private:
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};
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class GpsDataProcessed : public StaticLocalDataSet<GPS_SET_PROCESSED_ENTRIES> {
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public:
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GpsDataProcessed(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, GPS_PROCESSED_DATA) {}
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lp_var_t<double> gcLatitude = lp_var_t<double>(sid.objectId, GC_LATITUDE, this);
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lp_var_t<double> gdLongitude = lp_var_t<double>(sid.objectId, GD_LONGITUDE, this);
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private:
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};
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class MekfData : public StaticLocalDataSet<MEKF_SET_ENTRIES> {
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public:
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MekfData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MEKF_DATA) {}
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lp_vec_t<double, 4> quatMekf = lp_vec_t<double, 4>(sid.objectId, QUAT_MEKF, this);
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lp_vec_t<double, 3> satRotRateMekf = lp_vec_t<double, 3>(sid.objectId, SAT_ROT_RATE_MEKF, this);
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private:
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};
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class CtrlValData : public StaticLocalDataSet<CTRL_VAL_SET_ENTRIES> {
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public:
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CtrlValData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, CTRL_VAL_DATA) {}
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lp_vec_t<double, 4> tgtQuat = lp_vec_t<double, 4>(sid.objectId, TGT_QUAT, this);
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lp_vec_t<double, 4> errQuat = lp_vec_t<double, 4>(sid.objectId, ERROR_QUAT, this);
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lp_var_t<double> errAng = lp_var_t<double>(sid.objectId, ERROR_ANG, this);
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private:
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};
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class ActuatorCmdData : public StaticLocalDataSet<ACT_CMD_SET_ENTRIES> {
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public:
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ActuatorCmdData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, ACTUATOR_CMD_DATA) {}
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lp_vec_t<double, 4> rwTargetTorque = lp_vec_t<double, 4>(sid.objectId, RW_TARGET_TORQUE, this);
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lp_vec_t<int32_t, 4> rwTargetSpeed = lp_vec_t<int32_t, 4>(sid.objectId, RW_TARGET_SPEED, this);
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lp_vec_t<int16_t, 3> mtqTargetDipole =
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lp_vec_t<int16_t, 3>(sid.objectId, MTQ_TARGET_DIPOLE, this);
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private:
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};
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