mission/devices/ImtqHandler.cpp

@@ -100,7 +100,10 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
       communicationStep = CommunicationStep::DIPOLE_ACTUATION;
       break;
     case CommunicationStep::DIPOLE_ACTUATION: {
-      // The dipoles will be set by the ACS controller directly using the dipole local pool set.
+      // If the dipole is not commanded but set by the ACS control algorithm,
+      // the dipoles will be set by the ACS controller directly using the dipole local pool set.
+      // This set has a flag to determine whether the ACS controller actually set any new input.
+      PoolReadGuard pg(&dipoleSet);
       if (dipoleSet.newActuation) {
         *id = IMTQ::START_ACTUATION_DIPOLE;
       }

mission/devices/devicedefinitions/IMTQHandlerDefinitions.h

@@ -485,9 +485,14 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
   DipoleActuationSet(object_id_t objectId)
       : StaticLocalDataSet(sid_t(objectId, IMTQ::SetIds::DIPOLES)) {}
 
+  // Refresh torque command without changing any of the set dipoles.
+  void refreshTorqueing(uint16_t durationMs_) {
+    newActuation = true;
+    currentTorqueDurationMs = durationMs_;
+  }
+
   void setDipoles(uint16_t xDipole_, uint16_t yDipole_, uint16_t zDipole_,
                   uint16_t currentTorqueDurationMs_) {
-    PoolReadGuard pg(this);
     newActuation = false;
     if (xDipole.value != xDipole_) {
       newActuation = true;
@@ -504,6 +509,12 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
     currentTorqueDurationMs = currentTorqueDurationMs_;
   }
 
+  void getDipoles(uint16_t& xDipole_, uint16_t& yDipole_, uint16_t& zDipole_) {
+    xDipole_ = xDipole.value;
+    yDipole_ = yDipole.value;
+    zDipole_ = zDipole.value;
+  }
+
  private:
   lp_var_t<uint16_t> xDipole = lp_var_t<uint16_t>(sid.objectId, DIPOLES_X, this);
   lp_var_t<uint16_t> yDipole = lp_var_t<uint16_t>(sid.objectId, DIPOLES_Y, this);