803 lines
27 KiB
C++
803 lines
27 KiB
C++
#include "AcsParameters.h"
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#include <fsfw/src/fsfw/globalfunctions/constants.h>
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#include <stddef.h>
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AcsParameters::AcsParameters() {}
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AcsParameters::~AcsParameters() {}
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ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
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ParameterWrapper* parameterWrapper,
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const ParameterWrapper* newValues,
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uint16_t startAtIndex) {
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switch (domainId) {
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case 0x0: // direct members
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switch (parameterId) {
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case 0x1: // OnBoardParams
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(onBoardParams.sampleTime);
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break;
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case 0x1:
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parameterWrapper->set(onBoardParams.ptgCtrlLostTimer);
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break;
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case 0x2:
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parameterWrapper->set(onBoardParams.fusedRateSafeDuringEclipse);
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break;
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case 0x3:
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parameterWrapper->set(onBoardParams.fusedRateFromStr);
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break;
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case 0x4:
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parameterWrapper->set(onBoardParams.fusedRateFromQuest);
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break;
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case 0x5:
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parameterWrapper->set(onBoardParams.questFilterWeight);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case 0x2: // InertiaEIVE
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switch (parameterId) {
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case 0x0:
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parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixDeployed);
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break;
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case 0x1:
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parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixUndeployed);
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break;
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case 0x2:
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parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixPanel1);
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break;
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case 0x3:
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parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixPanel3);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case 0x3: // MgmHandlingParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->setMatrix(mgmHandlingParameters.mgm0orientationMatrix);
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break;
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case 0x1:
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parameterWrapper->setMatrix(mgmHandlingParameters.mgm1orientationMatrix);
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break;
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case 0x2:
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parameterWrapper->setMatrix(mgmHandlingParameters.mgm2orientationMatrix);
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break;
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case 0x3:
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parameterWrapper->setMatrix(mgmHandlingParameters.mgm3orientationMatrix);
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break;
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case 0x4:
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parameterWrapper->setMatrix(mgmHandlingParameters.mgm4orientationMatrix);
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break;
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case 0x5:
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parameterWrapper->setVector(mgmHandlingParameters.mgm0hardIronOffset);
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break;
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case 0x6:
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parameterWrapper->setVector(mgmHandlingParameters.mgm1hardIronOffset);
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break;
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case 0x7:
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parameterWrapper->setVector(mgmHandlingParameters.mgm2hardIronOffset);
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break;
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case 0x8:
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parameterWrapper->setVector(mgmHandlingParameters.mgm3hardIronOffset);
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break;
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case 0x9:
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parameterWrapper->setVector(mgmHandlingParameters.mgm4hardIronOffset);
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break;
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case 0xA:
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parameterWrapper->setMatrix(mgmHandlingParameters.mgm0softIronInverse);
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break;
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case 0xB:
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parameterWrapper->setMatrix(mgmHandlingParameters.mgm1softIronInverse);
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break;
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case 0xC:
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parameterWrapper->setMatrix(mgmHandlingParameters.mgm2softIronInverse);
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break;
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case 0xD:
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parameterWrapper->setMatrix(mgmHandlingParameters.mgm3softIronInverse);
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break;
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case 0xE:
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parameterWrapper->setMatrix(mgmHandlingParameters.mgm4softIronInverse);
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break;
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case 0xF:
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parameterWrapper->setVector(mgmHandlingParameters.mgm02variance);
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break;
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case 0x10:
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parameterWrapper->setVector(mgmHandlingParameters.mgm13variance);
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break;
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case 0x11:
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parameterWrapper->setVector(mgmHandlingParameters.mgm4variance);
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break;
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case 0x12:
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parameterWrapper->set(mgmHandlingParameters.mgmVectorFilterWeight);
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break;
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case 0x13:
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parameterWrapper->set(mgmHandlingParameters.mgmDerivativeFilterWeight);
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break;
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case 0x14:
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parameterWrapper->set(mgmHandlingParameters.useMgm4);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case 0x4: // SusHandlingParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->setMatrix(susHandlingParameters.sus0orientationMatrix);
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break;
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case 0x1:
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parameterWrapper->setMatrix(susHandlingParameters.sus1orientationMatrix);
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break;
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case 0x2:
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parameterWrapper->setMatrix(susHandlingParameters.sus2orientationMatrix);
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break;
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case 0x3:
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parameterWrapper->setMatrix(susHandlingParameters.sus3orientationMatrix);
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break;
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case 0x4:
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parameterWrapper->setMatrix(susHandlingParameters.sus4orientationMatrix);
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break;
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case 0x5:
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parameterWrapper->setMatrix(susHandlingParameters.sus5orientationMatrix);
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break;
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case 0x6:
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parameterWrapper->setMatrix(susHandlingParameters.sus6orientationMatrix);
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break;
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case 0x7:
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parameterWrapper->setMatrix(susHandlingParameters.sus7orientationMatrix);
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break;
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case 0x8:
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parameterWrapper->setMatrix(susHandlingParameters.sus8orientationMatrix);
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break;
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case 0x9:
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parameterWrapper->setMatrix(susHandlingParameters.sus9orientationMatrix);
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break;
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case 0xA:
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parameterWrapper->setMatrix(susHandlingParameters.sus10orientationMatrix);
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break;
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case 0xB:
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parameterWrapper->setMatrix(susHandlingParameters.sus11orientationMatrix);
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break;
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case 0xC:
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parameterWrapper->setMatrix(susHandlingParameters.sus0coeffAlpha);
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break;
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case 0xD:
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parameterWrapper->setMatrix(susHandlingParameters.sus0coeffBeta);
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break;
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case 0xE:
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parameterWrapper->setMatrix(susHandlingParameters.sus1coeffAlpha);
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break;
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case 0xF:
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parameterWrapper->setMatrix(susHandlingParameters.sus1coeffBeta);
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break;
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case 0x10:
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parameterWrapper->setMatrix(susHandlingParameters.sus2coeffAlpha);
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break;
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case 0x11:
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parameterWrapper->setMatrix(susHandlingParameters.sus2coeffBeta);
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break;
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case 0x12:
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parameterWrapper->setMatrix(susHandlingParameters.sus3coeffAlpha);
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break;
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case 0x13:
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parameterWrapper->setMatrix(susHandlingParameters.sus3coeffBeta);
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break;
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case 0x14:
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parameterWrapper->setMatrix(susHandlingParameters.sus4coeffAlpha);
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break;
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case 0x15:
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parameterWrapper->setMatrix(susHandlingParameters.sus4coeffBeta);
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break;
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case 0x16:
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parameterWrapper->setMatrix(susHandlingParameters.sus5coeffAlpha);
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break;
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case 0x17:
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parameterWrapper->setMatrix(susHandlingParameters.sus5coeffBeta);
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break;
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case 0x18:
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parameterWrapper->setMatrix(susHandlingParameters.sus6coeffAlpha);
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break;
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case 0x19:
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parameterWrapper->setMatrix(susHandlingParameters.sus6coeffBeta);
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break;
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case 0x1A:
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parameterWrapper->setMatrix(susHandlingParameters.sus7coeffAlpha);
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break;
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case 0x1B:
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parameterWrapper->setMatrix(susHandlingParameters.sus7coeffBeta);
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break;
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case 0x1C:
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parameterWrapper->setMatrix(susHandlingParameters.sus8coeffAlpha);
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break;
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case 0x1D:
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parameterWrapper->setMatrix(susHandlingParameters.sus8coeffBeta);
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break;
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case 0x1E:
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parameterWrapper->setMatrix(susHandlingParameters.sus9coeffAlpha);
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break;
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case 0x1F:
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parameterWrapper->setMatrix(susHandlingParameters.sus9coeffBeta);
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break;
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case 0x20:
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parameterWrapper->setMatrix(susHandlingParameters.sus10coeffAlpha);
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break;
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case 0x21:
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parameterWrapper->setMatrix(susHandlingParameters.sus10coeffBeta);
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break;
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case 0x22:
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parameterWrapper->setMatrix(susHandlingParameters.sus11coeffAlpha);
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break;
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case 0x23:
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parameterWrapper->setMatrix(susHandlingParameters.sus11coeffBeta);
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break;
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case 0x24:
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parameterWrapper->set(susHandlingParameters.susBrightnessThreshold);
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break;
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case 0x25:
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parameterWrapper->set(susHandlingParameters.susVectorFilterWeight);
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break;
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case 0x26:
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parameterWrapper->set(susHandlingParameters.susRateFilterWeight);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0x5): // GyrHandlingParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->setMatrix(gyrHandlingParameters.gyr0orientationMatrix);
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break;
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case 0x1:
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parameterWrapper->setMatrix(gyrHandlingParameters.gyr1orientationMatrix);
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break;
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case 0x2:
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parameterWrapper->setMatrix(gyrHandlingParameters.gyr2orientationMatrix);
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break;
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case 0x3:
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parameterWrapper->setMatrix(gyrHandlingParameters.gyr3orientationMatrix);
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break;
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case 0x4:
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parameterWrapper->setVector(gyrHandlingParameters.gyr0bias);
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break;
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case 0x5:
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parameterWrapper->setVector(gyrHandlingParameters.gyr1bias);
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break;
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case 0x6:
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parameterWrapper->setVector(gyrHandlingParameters.gyr2bias);
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break;
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case 0x7:
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parameterWrapper->setVector(gyrHandlingParameters.gyr3bias);
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break;
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case 0x8:
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parameterWrapper->setVector(gyrHandlingParameters.gyr02variance);
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break;
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case 0x9:
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parameterWrapper->setVector(gyrHandlingParameters.gyr13variance);
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break;
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case 0xA:
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parameterWrapper->set(gyrHandlingParameters.preferAdis);
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break;
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case 0xB:
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parameterWrapper->set(gyrHandlingParameters.gyrFilterWeight);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0x6): // RwHandlingParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(rwHandlingParameters.inertiaWheel);
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break;
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case 0x1:
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parameterWrapper->set(rwHandlingParameters.maxTrq);
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break;
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case 0x2:
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parameterWrapper->set(rwHandlingParameters.maxRwSpeed);
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break;
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case 0x3:
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parameterWrapper->set(rwHandlingParameters.stictionSpeed);
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break;
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case 0x4:
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parameterWrapper->set(rwHandlingParameters.stictionReleaseSpeed);
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break;
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case 0x5:
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parameterWrapper->set(rwHandlingParameters.stictionTorque);
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break;
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case 0x6:
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parameterWrapper->set(rwHandlingParameters.rampTime);
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break;
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case 0x7:
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parameterWrapper->set(rwHandlingParameters.multipleRwInvalidTimeout);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0x7): // RwMatrices
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switch (parameterId) {
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case 0x0:
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parameterWrapper->setMatrix(rwMatrices.alignmentMatrix);
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break;
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case 0x1:
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parameterWrapper->setMatrix(rwMatrices.pseudoInverse);
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break;
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case 0x2:
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parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW1);
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break;
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case 0x3:
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parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW2);
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break;
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case 0x4:
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parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW3);
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break;
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case 0x5:
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parameterWrapper->setMatrix(rwMatrices.pseudoInverseWithoutRW4);
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break;
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case 0x6:
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parameterWrapper->setVector(rwMatrices.nullspaceVector);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0x8): // SafeModeControllerParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(safeModeControllerParameters.k_orthoMekf);
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break;
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case 0x1:
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parameterWrapper->set(safeModeControllerParameters.k_alignMekf);
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break;
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case 0x2:
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parameterWrapper->set(safeModeControllerParameters.k_parallelMekf);
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break;
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case 0x3:
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parameterWrapper->set(safeModeControllerParameters.k_orthoGyr);
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break;
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case 0x4:
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parameterWrapper->set(safeModeControllerParameters.k_alignGyr);
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break;
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case 0x5:
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parameterWrapper->set(safeModeControllerParameters.k_parallelGyr);
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break;
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case 0x6:
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parameterWrapper->set(safeModeControllerParameters.k_orthoSusMgm);
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break;
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case 0x7:
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parameterWrapper->set(safeModeControllerParameters.k_alignSusMgm);
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break;
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case 0x8:
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parameterWrapper->set(safeModeControllerParameters.k_parallelSusMgm);
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break;
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case 0x9:
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parameterWrapper->setVector(safeModeControllerParameters.sunTargetDirLeop);
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break;
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case 0xA:
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parameterWrapper->setVector(safeModeControllerParameters.sunTargetDir);
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break;
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case 0xB:
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parameterWrapper->set(safeModeControllerParameters.useMekf);
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break;
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case 0xC:
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parameterWrapper->set(safeModeControllerParameters.useGyr);
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break;
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case 0xD:
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parameterWrapper->set(safeModeControllerParameters.dampingDuringEclipse);
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break;
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case 0xE:
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parameterWrapper->set(safeModeControllerParameters.sineLimitSunRotRate);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0x9): // IdleModeControllerParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(idleModeControllerParameters.zeta);
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break;
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case 0x1:
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parameterWrapper->set(idleModeControllerParameters.om);
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break;
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case 0x2:
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parameterWrapper->set(idleModeControllerParameters.omMax);
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break;
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case 0x3:
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parameterWrapper->set(idleModeControllerParameters.qiMin);
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break;
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case 0x4:
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parameterWrapper->set(idleModeControllerParameters.gainNullspace);
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break;
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case 0x5:
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parameterWrapper->set(idleModeControllerParameters.nullspaceSpeed);
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break;
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case 0x6:
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parameterWrapper->setVector(idleModeControllerParameters.desatMomentumRef);
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break;
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case 0x7:
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parameterWrapper->set(idleModeControllerParameters.deSatGainFactor);
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break;
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case 0x8:
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parameterWrapper->set(idleModeControllerParameters.desatOn);
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break;
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case 0x9:
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parameterWrapper->set(idleModeControllerParameters.useMekf);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0xA): // TargetModeControllerParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(targetModeControllerParameters.zeta);
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break;
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case 0x1:
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parameterWrapper->set(targetModeControllerParameters.om);
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break;
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case 0x2:
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parameterWrapper->set(targetModeControllerParameters.omMax);
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break;
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case 0x3:
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parameterWrapper->set(targetModeControllerParameters.qiMin);
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break;
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case 0x4:
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parameterWrapper->set(targetModeControllerParameters.gainNullspace);
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break;
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case 0x5:
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parameterWrapper->set(targetModeControllerParameters.nullspaceSpeed);
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break;
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case 0x6:
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parameterWrapper->setVector(targetModeControllerParameters.desatMomentumRef);
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break;
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case 0x7:
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parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
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break;
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case 0x8:
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parameterWrapper->set(targetModeControllerParameters.desatOn);
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break;
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case 0x9:
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parameterWrapper->set(targetModeControllerParameters.useMekf);
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break;
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case 0xA:
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parameterWrapper->setVector(targetModeControllerParameters.refDirection);
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break;
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case 0xB:
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parameterWrapper->setVector(targetModeControllerParameters.refRotRate);
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break;
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case 0xC:
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parameterWrapper->setVector(targetModeControllerParameters.quatRef);
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break;
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case 0xD:
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parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
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break;
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case 0xE:
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parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
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break;
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case 0xF:
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parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
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break;
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case 0x10:
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parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
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break;
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case 0x11:
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parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
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break;
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case 0x12:
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parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
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break;
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case 0x13:
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parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
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break;
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case 0x14:
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parameterWrapper->set(targetModeControllerParameters.blindRotRate);
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break;
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default:
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return INVALID_IDENTIFIER_ID;
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}
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break;
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case (0xB): // GsTargetModeControllerParameters
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switch (parameterId) {
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case 0x0:
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parameterWrapper->set(gsTargetModeControllerParameters.zeta);
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break;
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case 0x1:
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parameterWrapper->set(gsTargetModeControllerParameters.om);
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break;
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case 0x2:
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parameterWrapper->set(gsTargetModeControllerParameters.omMax);
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break;
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case 0x3:
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parameterWrapper->set(gsTargetModeControllerParameters.qiMin);
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break;
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case 0x4:
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parameterWrapper->set(gsTargetModeControllerParameters.gainNullspace);
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break;
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case 0x5:
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parameterWrapper->set(gsTargetModeControllerParameters.nullspaceSpeed);
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break;
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case 0x6:
|
|
parameterWrapper->setVector(gsTargetModeControllerParameters.desatMomentumRef);
|
|
break;
|
|
case 0x7:
|
|
parameterWrapper->set(gsTargetModeControllerParameters.deSatGainFactor);
|
|
break;
|
|
case 0x8:
|
|
parameterWrapper->set(gsTargetModeControllerParameters.desatOn);
|
|
break;
|
|
case 0x9:
|
|
parameterWrapper->set(gsTargetModeControllerParameters.useMekf);
|
|
break;
|
|
case 0xA:
|
|
parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection);
|
|
break;
|
|
case 0xB:
|
|
parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax);
|
|
break;
|
|
case 0xC:
|
|
parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt);
|
|
break;
|
|
case 0xD:
|
|
parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt);
|
|
break;
|
|
case 0xE:
|
|
parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt);
|
|
break;
|
|
case 0xF:
|
|
parameterWrapper->set(gsTargetModeControllerParameters.rotRateLimit);
|
|
break;
|
|
default:
|
|
return INVALID_IDENTIFIER_ID;
|
|
}
|
|
break;
|
|
case (0xC): // NadirModeControllerParameters
|
|
switch (parameterId) {
|
|
case 0x0:
|
|
parameterWrapper->set(nadirModeControllerParameters.zeta);
|
|
break;
|
|
case 0x1:
|
|
parameterWrapper->set(nadirModeControllerParameters.om);
|
|
break;
|
|
case 0x2:
|
|
parameterWrapper->set(nadirModeControllerParameters.omMax);
|
|
break;
|
|
case 0x3:
|
|
parameterWrapper->set(nadirModeControllerParameters.qiMin);
|
|
break;
|
|
case 0x4:
|
|
parameterWrapper->set(nadirModeControllerParameters.gainNullspace);
|
|
break;
|
|
case 0x5:
|
|
parameterWrapper->set(nadirModeControllerParameters.nullspaceSpeed);
|
|
break;
|
|
case 0x6:
|
|
parameterWrapper->setVector(nadirModeControllerParameters.desatMomentumRef);
|
|
break;
|
|
case 0x7:
|
|
parameterWrapper->set(nadirModeControllerParameters.deSatGainFactor);
|
|
break;
|
|
case 0x8:
|
|
parameterWrapper->set(nadirModeControllerParameters.desatOn);
|
|
break;
|
|
case 0x9:
|
|
parameterWrapper->set(nadirModeControllerParameters.useMekf);
|
|
break;
|
|
case 0xA:
|
|
parameterWrapper->setVector(nadirModeControllerParameters.refDirection);
|
|
break;
|
|
case 0xB:
|
|
parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
|
|
break;
|
|
case 0xC:
|
|
parameterWrapper->setVector(nadirModeControllerParameters.refRotRate);
|
|
break;
|
|
case 0xD:
|
|
parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax);
|
|
break;
|
|
default:
|
|
return INVALID_IDENTIFIER_ID;
|
|
}
|
|
break;
|
|
case (0xD): // InertialModeControllerParameters
|
|
switch (parameterId) {
|
|
case 0x0:
|
|
parameterWrapper->set(inertialModeControllerParameters.zeta);
|
|
break;
|
|
case 0x1:
|
|
parameterWrapper->set(inertialModeControllerParameters.om);
|
|
break;
|
|
case 0x2:
|
|
parameterWrapper->set(inertialModeControllerParameters.omMax);
|
|
break;
|
|
case 0x3:
|
|
parameterWrapper->set(inertialModeControllerParameters.qiMin);
|
|
break;
|
|
case 0x4:
|
|
parameterWrapper->set(inertialModeControllerParameters.gainNullspace);
|
|
break;
|
|
case 0x5:
|
|
parameterWrapper->set(inertialModeControllerParameters.nullspaceSpeed);
|
|
break;
|
|
case 0x6:
|
|
parameterWrapper->setVector(inertialModeControllerParameters.desatMomentumRef);
|
|
break;
|
|
case 0x7:
|
|
parameterWrapper->set(inertialModeControllerParameters.deSatGainFactor);
|
|
break;
|
|
case 0x8:
|
|
parameterWrapper->set(inertialModeControllerParameters.desatOn);
|
|
break;
|
|
case 0x9:
|
|
parameterWrapper->set(inertialModeControllerParameters.useMekf);
|
|
break;
|
|
case 0xA:
|
|
parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat);
|
|
break;
|
|
case 0xB:
|
|
parameterWrapper->setVector(inertialModeControllerParameters.refRotRate);
|
|
break;
|
|
case 0xC:
|
|
parameterWrapper->setVector(inertialModeControllerParameters.quatRef);
|
|
break;
|
|
default:
|
|
return INVALID_IDENTIFIER_ID;
|
|
}
|
|
break;
|
|
case (0xE): // StrParameters
|
|
switch (parameterId) {
|
|
case 0x0:
|
|
parameterWrapper->set(strParameters.exclusionAngle);
|
|
break;
|
|
case 0x1:
|
|
parameterWrapper->setVector(strParameters.boresightAxis);
|
|
break;
|
|
default:
|
|
return INVALID_IDENTIFIER_ID;
|
|
}
|
|
break;
|
|
case (0xF): // GpsParameters
|
|
switch (parameterId) {
|
|
case 0x0:
|
|
parameterWrapper->set(gpsParameters.timeDiffVelocityMax);
|
|
break;
|
|
case 0x1:
|
|
parameterWrapper->set(gpsParameters.minimumFdirAltitude);
|
|
break;
|
|
case 0x2:
|
|
parameterWrapper->set(gpsParameters.maximumFdirAltitude);
|
|
break;
|
|
case 0x3:
|
|
parameterWrapper->set(gpsParameters.fdirAltitude);
|
|
break;
|
|
case 0x4:
|
|
parameterWrapper->set(gpsParameters.useSpg4);
|
|
break;
|
|
default:
|
|
return INVALID_IDENTIFIER_ID;
|
|
}
|
|
break;
|
|
case (0x10): // SunModelParameters
|
|
switch (parameterId) {
|
|
case 0x0:
|
|
parameterWrapper->set(sunModelParameters.domega);
|
|
break;
|
|
case 0x1:
|
|
parameterWrapper->set(sunModelParameters.omega_0);
|
|
break;
|
|
case 0x2:
|
|
parameterWrapper->set(sunModelParameters.m_0);
|
|
break;
|
|
case 0x3:
|
|
parameterWrapper->set(sunModelParameters.dm);
|
|
break;
|
|
case 0x4:
|
|
parameterWrapper->set(sunModelParameters.e);
|
|
break;
|
|
case 0x5:
|
|
parameterWrapper->set(sunModelParameters.e1);
|
|
break;
|
|
case 0x6:
|
|
parameterWrapper->set(sunModelParameters.p1);
|
|
break;
|
|
case 0x7:
|
|
parameterWrapper->set(sunModelParameters.p2);
|
|
break;
|
|
default:
|
|
return INVALID_IDENTIFIER_ID;
|
|
}
|
|
break;
|
|
case (0x11): // KalmanFilterParameters
|
|
switch (parameterId) {
|
|
case 0x0:
|
|
parameterWrapper->set(kalmanFilterParameters.sensorNoiseStr);
|
|
break;
|
|
case 0x1:
|
|
parameterWrapper->set(kalmanFilterParameters.sensorNoiseSus);
|
|
break;
|
|
case 0x2:
|
|
parameterWrapper->set(kalmanFilterParameters.sensorNoiseMgm);
|
|
break;
|
|
case 0x3:
|
|
parameterWrapper->set(kalmanFilterParameters.sensorNoiseGyr);
|
|
break;
|
|
case 0x4:
|
|
parameterWrapper->set(kalmanFilterParameters.sensorNoiseGyrArw);
|
|
break;
|
|
case 0x5:
|
|
parameterWrapper->set(kalmanFilterParameters.sensorNoiseGyrBs);
|
|
break;
|
|
case 0x6:
|
|
parameterWrapper->set(kalmanFilterParameters.allowStr);
|
|
break;
|
|
default:
|
|
return INVALID_IDENTIFIER_ID;
|
|
}
|
|
break;
|
|
case (0x12): // MagnetorquesParameter
|
|
switch (parameterId) {
|
|
case 0x0:
|
|
parameterWrapper->setMatrix(magnetorquerParameter.mtq0orientationMatrix);
|
|
break;
|
|
case 0x1:
|
|
parameterWrapper->setMatrix(magnetorquerParameter.mtq1orientationMatrix);
|
|
break;
|
|
case 0x2:
|
|
parameterWrapper->setMatrix(magnetorquerParameter.mtq2orientationMatrix);
|
|
break;
|
|
case 0x3:
|
|
parameterWrapper->setMatrix(magnetorquerParameter.alignmentMatrixMtq);
|
|
break;
|
|
case 0x4:
|
|
parameterWrapper->setMatrix(magnetorquerParameter.inverseAlignment);
|
|
break;
|
|
case 0x5:
|
|
parameterWrapper->set(magnetorquerParameter.dipoleMax);
|
|
break;
|
|
case 0x6:
|
|
parameterWrapper->set(magnetorquerParameter.torqueDuration);
|
|
break;
|
|
default:
|
|
return INVALID_IDENTIFIER_ID;
|
|
}
|
|
break;
|
|
case (0x13): // DetumbleParameter
|
|
switch (parameterId) {
|
|
case 0x0:
|
|
parameterWrapper->set(detumbleParameter.detumblecounter);
|
|
break;
|
|
case 0x1:
|
|
parameterWrapper->set(detumbleParameter.omegaDetumbleStart);
|
|
break;
|
|
case 0x2:
|
|
parameterWrapper->set(detumbleParameter.omegaDetumbleEnd);
|
|
break;
|
|
case 0x3:
|
|
parameterWrapper->set(detumbleParameter.gainBdot);
|
|
break;
|
|
case 0x4:
|
|
parameterWrapper->set(detumbleParameter.gainFull);
|
|
break;
|
|
case 0x5:
|
|
parameterWrapper->set(detumbleParameter.useFullDetumbleLaw);
|
|
break;
|
|
default:
|
|
return INVALID_IDENTIFIER_ID;
|
|
}
|
|
break;
|
|
default:
|
|
return INVALID_DOMAIN_ID;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|