mission/controller/AcsController.cpp

@@ -89,7 +89,7 @@ void AcsController::copyMgmData() {
   {
     PoolReadGuard pg(&imtqMgmSet);
     if (pg.getReadResult() == RETURN_OK) {
-      std::memcpy(mgmData.imtqCal.value, imtqMgmSet.mgmXyz.value, 3 * sizeof(int32_t));
+      std::memcpy(mgmData.imtqRaw.value, imtqMgmSet.mtmRawNt.value, 3 * sizeof(float));
       mgmData.actuationCalStatus.value = imtqMgmSet.coilActuationStatus.value;
     }
   }

mission/controller/AcsController.h

@@ -43,14 +43,13 @@ class AcsController : public ExtendedControllerBase {
       MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER);
   RM3100::Rm3100PrimaryDataset mgm3Rm3100Set =
       RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
-  IMTQ::CalibratedMtmMeasurementSet imtqMgmSet =
+  IMTQ::RawMtmMeasurementSet imtqMgmSet = IMTQ::RawMtmMeasurementSet(objects::IMTQ_HANDLER);
-      IMTQ::CalibratedMtmMeasurementSet(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<int32_t> imtqMgmPoolVec = PoolEntry<int32_t>(3);
+  PoolEntry<float> imtqMgmPoolVec = PoolEntry<float>(3);
   PoolEntry<uint8_t> imtqCalActStatus = PoolEntry<uint8_t>();
 
   void copyMgmData();

mission/controller/controllerdefinitions/AcsCtrlDefinitions.h

@@ -53,7 +53,7 @@ class MgmData : public StaticLocalDataSet<MGM_SET_ENTRIES> {
   lp_vec_t<float, 3> mgm2Lis3 = lp_vec_t<float, 3>(sid.objectId, MGM_2_LIS3_UT, this);
   lp_vec_t<float, 3> mgm3Rm3100 = lp_vec_t<float, 3>(sid.objectId, MGM_3_RM3100_UT, this);
   // The IMTQ measurements are in integer nT
-  lp_vec_t<int32_t, 3> imtqCal = lp_vec_t<int32_t, 3>(sid.objectId, MGM_IMTQ_CAL_NT, this);
+  lp_vec_t<float, 3> imtqRaw = lp_vec_t<float, 3>(sid.objectId, MGM_IMTQ_CAL_NT, this);
   lp_var_t<uint8_t> actuationCalStatus =
       lp_var_t<uint8_t>(sid.objectId, MGM_IMTQ_CAL_ACT_STATUS, this);
 

mission/devices/IMTQHandler.cpp

@@ -335,9 +335,7 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat
   localDataPoolMap.emplace(IMTQ::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>({0}));
 
   /** Entries of raw MTM measurement dataset */
-  localDataPoolMap.emplace(IMTQ::MTM_RAW_X, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(IMTQ::MTM_RAW, new PoolEntry<float>(3));
-  localDataPoolMap.emplace(IMTQ::MTM_RAW_Y, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(IMTQ::MTM_RAW_Z, new PoolEntry<float>({0}));
   localDataPoolMap.emplace(IMTQ::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
 
   /** INIT measurements for positive X axis test */
@@ -780,29 +778,45 @@ void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
 
 void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
   PoolReadGuard rg(&rawMtmMeasurementSet);
-  int8_t offset = 2;
+  unsigned int offset = 2;
-  rawMtmMeasurementSet.mtmXnT = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
+  size_t deSerLen = 16;
-                                 *(packet + offset + 1) << 8 | *(packet + offset)) *
+  const uint8_t* dataStart = packet + offset;
-                                7.5;
+  int32_t xRaw = 0;
-  offset += 4;
+  int32_t yRaw = 0;
-  rawMtmMeasurementSet.mtmYnT = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
+  int32_t zRaw = 0;
-                                 *(packet + offset + 1) << 8 | *(packet + offset)) *
+  uint32_t coilActStatus = 0;
-                                7.5;
+  auto res =
-  offset += 4;
+      SerializeAdapter::deSerialize(&xRaw, &dataStart, &deSerLen, SerializeIF::Endianness::LITTLE);
-  rawMtmMeasurementSet.mtmZnT = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
+  if (res != HasReturnvaluesIF::RETURN_OK) {
-                                 *(packet + offset + 1) << 8 | *(packet + offset)) *
+    return;
-                                7.5;
+  }
-  offset += 4;
+  res =
-  rawMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24) |
+      SerializeAdapter::deSerialize(&yRaw, &dataStart, &deSerLen, SerializeIF::Endianness::LITTLE);
-                                             (*(packet + offset + 2) << 16) |
+  if (res != HasReturnvaluesIF::RETURN_OK) {
-                                             (*(packet + offset + 1) << 8) | (*(packet + offset));
+    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
-    sif::info << "IMTQ raw MTM measurement X: " << rawMtmMeasurementSet.mtmXnT << " nT"
+    sif::info << "IMTQ raw MTM measurement X: " << rawMtmMeasurementSet.mtmRawNt[0] << " nT"
               << std::endl;
-    sif::info << "IMTQ raw MTM measurement Y: " << rawMtmMeasurementSet.mtmYnT << " nT"
+    sif::info << "IMTQ raw MTM measurement Y: " << rawMtmMeasurementSet.mtmRawNt[1] << " nT"
               << std::endl;
-    sif::info << "IMTQ raw MTM measurement Z: " << rawMtmMeasurementSet.mtmZnT << " nT"
+    sif::info << "IMTQ raw MTM measurement Z: " << rawMtmMeasurementSet.mtmRawNt[2] << " nT"
               << std::endl;
     sif::info << "IMTQ coil actuation status during MTM measurement: "
               << (unsigned int)rawMtmMeasurementSet.coilActuationStatus.value << std::endl;

mission/devices/devicedefinitions/IMTQHandlerDefinitions.h

@@ -117,9 +117,7 @@ enum IMTQPoolIds : lp_id_t {
   MCU_TEMPERATURE,
   MGM_CAL_NT,
   ACTUATION_CAL_STATUS,
-  MTM_RAW_X,
+  MTM_RAW,
-  MTM_RAW_Y,
-  MTM_RAW_Z,
   ACTUATION_RAW_STATUS,
 
   INIT_POS_X_ERR,
@@ -422,9 +420,7 @@ class RawMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
   RawMtmMeasurementSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, RAW_MTM_SET)) {}
 
   /** The unit of all measurements is nT */
-  lp_var_t<float> mtmXnT = lp_var_t<float>(sid.objectId, MTM_RAW_X, this);
+  lp_vec_t<float, 3> mtmRawNt = lp_vec_t<float, 3>(sid.objectId, MTM_RAW, this);
-  lp_var_t<float> mtmYnT = lp_var_t<float>(sid.objectId, MTM_RAW_Y, this);
-  lp_var_t<float> mtmZnT = lp_var_t<float>(sid.objectId, MTM_RAW_Z, this);
   /** 1 if coils were actuating during measurement otherwise 0 */
   lp_var_t<uint8_t> coilActuationStatus =
       lp_var_t<uint8_t>(sid.objectId, ACTUATION_RAW_STATUS, this);