Merge pull request 'ACS Update Scheduling' (#373) from acs_update_scheduling_again into develop

Reviewed-on: #373
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -19,6 +19,8 @@ change warranting a new major release:
 
 ## Changed
 
+- ACS Controller scheduling is now configurable via the `eive/definitions.h` file. Also ensured
+  that scheduling is done in big blocks to reduce risk of missed deadlines.
 - Replaced chained locks for polling new sensor data to the `AcsController`
 
 # [v1.26.1] 2023-02-08

bsp_q7s/core/scheduling.cpp

@@ -313,7 +313,8 @@ void scheduling::initTasks() {
   std::vector<PeriodicTaskIF*> pusTasks;
   createPusTasks(*factory, missedDeadlineFunc, pusTasks);
   std::vector<PeriodicTaskIF*> pstTasks;
-  createPstTasks(*factory, missedDeadlineFunc, pstTasks);
+  AcsPstCfg cfg;
+  createPstTasks(*factory, missedDeadlineFunc, pstTasks, cfg);
 
 #if OBSW_ADD_TEST_CODE == 1
 #if OBSW_TEST_CCSDS_BRIDGE == 1
@@ -403,7 +404,7 @@ void scheduling::initTasks() {
 }
 
 void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
-                                std::vector<PeriodicTaskIF*>& taskVec) {
+                                std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg) {
   ReturnValue_t result = returnvalue::OK;
 
 #ifdef RELEASE_BUILD
@@ -413,7 +414,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #endif
   FixedTimeslotTaskIF* acsPst = factory.createFixedTimeslotTask(
       "ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
-  result = pst::pstAcs(acsPst);
+  result = pst::pstAcs(acsPst, cfg);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
       sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;

bsp_q7s/core/scheduling.h

@@ -1,10 +1,14 @@
 #ifndef BSP_Q7S_INITMISSION_H_
 #define BSP_Q7S_INITMISSION_H_
 
+#include <pollingsequence/pollingSequenceFactory.h>
+
 #include <vector>
 
 #include "fsfw/tasks/definitions.h"
 
+using pst::AcsPstCfg;
+
 class PeriodicTaskIF;
 class TaskFactory;
 
@@ -13,7 +17,7 @@ void initMission();
 void initTasks();
 
 void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
-                    std::vector<PeriodicTaskIF*>& taskVec);
+                    std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg);
 void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                     std::vector<PeriodicTaskIF*>& taskVec);
 void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,

bsp_q7s/em/emObjectFactory.cpp

@@ -43,6 +43,9 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_GOMSPACE_PCDU == 1
   dummyCfg.addPowerDummies = false;
 #endif
+#if OBSW_ADD_ACS_BOARD == 1
+  dummyCfg.addAcsBoardDummies = false;
+#endif
 
   PowerSwitchIF* pwrSwitcher = nullptr;
 #if OBSW_ADD_GOMSPACE_PCDU == 0

common/config/eive/definitions.h

@@ -55,6 +55,19 @@ static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100;
 static constexpr uint32_t MAX_STORED_CMDS_UDP = 120;
 static constexpr uint32_t MAX_STORED_CMDS_TCP = 120;
 
+namespace acs {
+
+static constexpr uint32_t SCHED_BLOCK_1_SENSORS_MS = 15;
+static constexpr uint32_t SCHED_BLOCK_2_ACS_CTRL_MS = 40;
+static constexpr uint32_t SCHED_BLOCK_3_ACTUATOR_MS = 45;
+
+// 15 ms for FM
+static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_SENSORS_MS) / 400.0;
+static constexpr float SCHED_BLOCK_2_PERIOD = static_cast<float>(SCHED_BLOCK_2_ACS_CTRL_MS) / 400.0;
+static constexpr float SCHED_BLOCK_3_PERIOD = static_cast<float>(SCHED_BLOCK_3_ACTUATOR_MS) / 400.0;
+
+}  // namespace acs
+
 }  // namespace config
 
 #endif /* COMMON_CONFIG_DEFINITIONS_H_ */

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -5,6 +5,7 @@
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 
+#include "eive/definitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 
 #ifndef RPI_TEST_ADIS16507
@@ -183,94 +184,115 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF *thisSequence) {
   return returnvalue::OK;
 }
 
-ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
+ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
   /* Length of a communication cycle */
   uint32_t length = thisSequence->getPeriodMs();
-#if OBSW_ADD_ACS_BOARD == 1
   bool enableAside = true;
   bool enableBside = true;
-  if (enableAside) {
-    // A side
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+  if (cfg.scheduleAcsBoard) {
+    if (enableAside) {
+      // A side
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_READ);
+    }
+
+    if (enableBside) {
+      // B side
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_READ);
+    }
   }
-
-  if (enableBside) {
-    // B side
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
-  }
-#endif /* OBSW_ADD_ACS_BOARD == 1 */
   // SUS: 16 ms
-#if OBSW_ADD_SUN_SENSORS == 1
 
   bool addSus0 = true;
   bool addSus1 = true;
@@ -285,319 +307,382 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
   bool addSus10 = true;
   bool addSus11 = true;
 
-  if (addSus0) {
-    /* Write setup */
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
+  if (cfg.scheduleSus) {
+    if (addSus0) {
+      /* Write setup */
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                            DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
-                          DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+    if (addSus1) {
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+    if (addSus2) {
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+    if (addSus3) {
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+    if (addSus4) {
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+    if (addSus5) {
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+
+    if (addSus6) {
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+
+    if (addSus7) {
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+
+    if (addSus8) {
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+
+    if (addSus9) {
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                            DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+
+    if (addSus10) {
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+
+    if (addSus11) {
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
   }
-  if (addSus1) {
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
-                          DeviceHandlerIF::GET_READ);
+  if (cfg.scheduleStr) {
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
   }
-  if (addSus2) {
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
+  if (cfg.scheduleImtq) {
+    // This is the MTM measurement cycle
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                           DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                           DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                           DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                           DeviceHandlerIF::GET_READ);
-  }
-  if (addSus3) {
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                           DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                           DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                           DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                           DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                           DeviceHandlerIF::GET_READ);
-  }
-  if (addSus4) {
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                           DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                           DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                           DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                           DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus5) {
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
                           DeviceHandlerIF::GET_READ);
   }
 
-  if (addSus6) {
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_2_PERIOD, 0);
 
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
+  if (cfg.scheduleImtq) {
+    // This is the torquing cycle.
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                           DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                           DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                           DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
                           DeviceHandlerIF::GET_READ);
   }
 
-  if (addSus7) {
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+  if (cfg.scheduleRws) {
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
                           DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
                           DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
                           DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
                           DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
                           DeviceHandlerIF::GET_READ);
   }
-
-  if (addSus8) {
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus9) {
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus10) {
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus11) {
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
-                          DeviceHandlerIF::GET_READ);
-  }
-#endif /* OBSW_ADD_SUN_SENSORS == 1 */
-
-#if OBSW_ADD_STAR_TRACKER == 1
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
-#endif
-
-#if OBSW_ADD_MGT == 1
-  // This is the MTM measurement cycle
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
-#endif
-
-  thisSequence->addSlot(objects::ACS_CONTROLLER, length * 0.1, 0);
-
-#if OBSW_ADD_MGT == 1
-  // This is the torquing cycle.
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::GET_READ);
-#endif
-
-#if OBSW_ADD_RW == 1
-  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
-
-  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
-
-  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::GET_WRITE);
-
-  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::SEND_READ);
-
-  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::GET_READ);
-#endif
   return returnvalue::OK;
 }

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h

@@ -31,6 +31,14 @@ class FixedTimeslotTaskIF;
  */
 namespace pst {
 
+struct AcsPstCfg {
+  bool scheduleAcsBoard = true;
+  bool scheduleImtq = true;
+  bool scheduleRws = true;
+  bool scheduleSus = true;
+  bool scheduleStr = true;
+};
+
 /**
  * @brief	This function creates the PST for all gomspace devices.
  * @details
@@ -41,7 +49,7 @@ ReturnValue_t pstGompaceCan(FixedTimeslotTaskIF* thisSequence);
 
 ReturnValue_t pstSpiAndSyrlinks(FixedTimeslotTaskIF* thisSequence);
 
-ReturnValue_t pstAcs(FixedTimeslotTaskIF* thisSequence);
+ReturnValue_t pstAcs(FixedTimeslotTaskIF* thisSequence, AcsPstCfg cfg);
 
 ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);
 

tmtc

@@ -1 +1 @@
-Subproject commit d0c8e20d4f9a6f5aee3ccfa05c4f7ab7151400b5
+Subproject commit 94a82b84e86177d122f4ac12eff6e06528f6290b