re-run black

eive_tmtc/tmtc/acs/acs_ctrl.py

@@ -163,115 +163,194 @@ def pack_acs_ctrl_command(p: ServiceProviderParams):
     q = p.queue_helper
     if op_code in OpCodes.REQUEST_RAW_MGM_HK:
         q.add_log_cmd(Info.REQUEST_RAW_MGM_HK)
-        q.add_pus_tc(generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.MGM_RAW_SET)))
+        q.add_pus_tc(
+            generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.MGM_RAW_SET))
+        )
     elif op_code in OpCodes.ENABLE_RAW_MGM_HK:
         q.add_log_cmd(Info.ENABLE_RAW_MGM_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(False, make_sid(ACS_CONTROLLER, SetIds.MGM_RAW_SET), 2.0)
+        cmd_tuple = enable_periodic_hk_command_with_interval(
+            False, make_sid(ACS_CONTROLLER, SetIds.MGM_RAW_SET), 2.0
+        )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
     elif op_code in OpCodes.DISABLE_RAW_MGM_HK:
         q.add_log_cmd(Info.DISABLE_RAW_MGM_HK)
-        q.add_pus_tc(disable_periodic_hk_command(False, make_sid(ACS_CONTROLLER, SetIds.MGM_RAW_SET)))
+        q.add_pus_tc(
+            disable_periodic_hk_command(
+                False, make_sid(ACS_CONTROLLER, SetIds.MGM_RAW_SET)
+            )
+        )
     elif op_code in OpCodes.REQUEST_PROC_MGM_HK:
         q.add_log_cmd(Info.REQUEST_PROC_MGM_HK)
-        q.add_pus_tc(generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.MGM_PROC_SET)))
+        q.add_pus_tc(
+            generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.MGM_PROC_SET))
+        )
     elif op_code in OpCodes.ENABLE_PROC_MGM_HK:
         q.add_log_cmd(Info.ENABLE_PROC_MGM_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(False, make_sid(ACS_CONTROLLER, SetIds.MGM_PROC_SET), 2.0)
+        cmd_tuple = enable_periodic_hk_command_with_interval(
+            False, make_sid(ACS_CONTROLLER, SetIds.MGM_PROC_SET), 2.0
+        )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
     elif op_code in OpCodes.DISABLE_PROC_MGM_HK:
         q.add_log_cmd(Info.DISABLE_PROC_MGM_HK)
-        q.add_pus_tc(disable_periodic_hk_command(False, make_sid(ACS_CONTROLLER, SetIds.MGM_PROC_SET)))
+        q.add_pus_tc(
+            disable_periodic_hk_command(
+                False, make_sid(ACS_CONTROLLER, SetIds.MGM_PROC_SET)
+            )
+        )
     elif op_code in OpCodes.REQUEST_RAW_SUS_HK:
         q.add_log_cmd(Info.REQUEST_RAW_SUS_HK)
-        q.add_pus_tc(generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.SUS_RAW_SET)))
+        q.add_pus_tc(
+            generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.SUS_RAW_SET))
+        )
     elif op_code in OpCodes.ENABLE_RAW_SUS_HK:
         q.add_log_cmd(Info.ENABLE_RAW_SUS_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(False, make_sid(ACS_CONTROLLER, SetIds.SUS_RAW_SET), 2.0)
+        cmd_tuple = enable_periodic_hk_command_with_interval(
+            False, make_sid(ACS_CONTROLLER, SetIds.SUS_RAW_SET), 2.0
+        )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
     elif op_code in OpCodes.DISABLE_RAW_SUS_HK:
         q.add_log_cmd(Info.DISABLE_RAW_SUS_HK)
-        q.add_pus_tc(disable_periodic_hk_command(False, make_sid(ACS_CONTROLLER, SetIds.SUS_RAW_SET)))
+        q.add_pus_tc(
+            disable_periodic_hk_command(
+                False, make_sid(ACS_CONTROLLER, SetIds.SUS_RAW_SET)
+            )
+        )
     elif op_code in OpCodes.REQUEST_PROC_SUS_HK:
         q.add_log_cmd(Info.REQUEST_PROC_SUS_HK)
-        q.add_pus_tc(generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.SUS_PROC_SET)))
+        q.add_pus_tc(
+            generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.SUS_PROC_SET))
+        )
     elif op_code in OpCodes.ENABLE_PROC_SUS_HK:
         q.add_log_cmd(Info.ENABLE_PROC_SUS_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(False, make_sid(ACS_CONTROLLER, SetIds.SUS_PROC_SET), 2.0)
+        cmd_tuple = enable_periodic_hk_command_with_interval(
+            False, make_sid(ACS_CONTROLLER, SetIds.SUS_PROC_SET), 2.0
+        )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
     elif op_code in OpCodes.DISABLE_PROC_SUS_HK:
         q.add_log_cmd(Info.DISABLE_PROC_SUS_HK)
-        q.add_pus_tc(disable_periodic_hk_command(False, make_sid(ACS_CONTROLLER, SetIds.SUS_PROC_SET)))
+        q.add_pus_tc(
+            disable_periodic_hk_command(
+                False, make_sid(ACS_CONTROLLER, SetIds.SUS_PROC_SET)
+            )
+        )
     elif op_code in OpCodes.REQUEST_RAW_GYR_HK:
         q.add_log_cmd(Info.REQUEST_RAW_GYR_HK)
-        q.add_pus_tc(generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.GYR_RAW_SET)))
+        q.add_pus_tc(
+            generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.GYR_RAW_SET))
+        )
     elif op_code in OpCodes.ENABLE_RAW_GYR_HK:
         q.add_log_cmd(Info.ENABLE_RAW_GYR_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(False, make_sid(ACS_CONTROLLER, SetIds.GYR_RAW_SET), 2.0)
+        cmd_tuple = enable_periodic_hk_command_with_interval(
+            False, make_sid(ACS_CONTROLLER, SetIds.GYR_RAW_SET), 2.0
+        )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
     elif op_code in OpCodes.DISABLE_RAW_GYR_HK:
         q.add_log_cmd(Info.DISABLE_RAW_GYR_HK)
-        q.add_pus_tc(disable_periodic_hk_command(False, make_sid(ACS_CONTROLLER, SetIds.GYR_RAW_SET)))
+        q.add_pus_tc(
+            disable_periodic_hk_command(
+                False, make_sid(ACS_CONTROLLER, SetIds.GYR_RAW_SET)
+            )
+        )
     elif op_code in OpCodes.REQUEST_PROC_GYR_HK:
         q.add_log_cmd(Info.REQUEST_PROC_GYR_HK)
-        q.add_pus_tc(generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.GYR_PROC_SET)))
+        q.add_pus_tc(
+            generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.GYR_PROC_SET))
+        )
     elif op_code in OpCodes.ENABLE_PROC_GYR_HK:
         q.add_log_cmd(Info.ENABLE_PROC_GYR_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(False, make_sid(ACS_CONTROLLER, SetIds.GYR_PROC_SET), 2.0)
+        cmd_tuple = enable_periodic_hk_command_with_interval(
+            False, make_sid(ACS_CONTROLLER, SetIds.GYR_PROC_SET), 2.0
+        )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
     elif op_code in OpCodes.DISABLE_PROC_GYR_HK:
         q.add_log_cmd(Info.DISABLE_PROC_GYR_HK)
-        q.add_pus_tc(disable_periodic_hk_command(False, make_sid(ACS_CONTROLLER, SetIds.GYR_PROC_SET)))
+        q.add_pus_tc(
+            disable_periodic_hk_command(
+                False, make_sid(ACS_CONTROLLER, SetIds.GYR_PROC_SET)
+            )
+        )
     elif op_code in OpCodes.REQUEST_PROC_GPS_HK:
         q.add_log_cmd(Info.REQUEST_PROC_GPS_HK)
-        q.add_pus_tc(generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.GPS_PROC_SET)))
+        q.add_pus_tc(
+            generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.GPS_PROC_SET))
+        )
     elif op_code in OpCodes.ENABLE_PROC_GPS_HK:
         q.add_log_cmd(Info.ENABLE_PROC_GPS_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(False, make_sid(ACS_CONTROLLER, SetIds.GPS_PROC_SET), 2.0)
+        cmd_tuple = enable_periodic_hk_command_with_interval(
+            False, make_sid(ACS_CONTROLLER, SetIds.GPS_PROC_SET), 2.0
+        )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
     elif op_code in OpCodes.DISABLE_PROC_GPS_HK:
         q.add_log_cmd(Info.DISABLE_PROC_GPS_HK)
-        q.add_pus_tc(disable_periodic_hk_command(False, make_sid(ACS_CONTROLLER, SetIds.GPS_PROC_SET)))
+        q.add_pus_tc(
+            disable_periodic_hk_command(
+                False, make_sid(ACS_CONTROLLER, SetIds.GPS_PROC_SET)
+            )
+        )
     elif op_code in OpCodes.REQUEST_MEKF_HK:
         q.add_log_cmd(Info.REQUEST_MEKF_HK)
-        q.add_pus_tc(generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.MEKF_DATA)))
+        q.add_pus_tc(
+            generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.MEKF_DATA))
+        )
     elif op_code in OpCodes.ENABLE_MEKF_HK:
         q.add_log_cmd(Info.ENABLE_MEKF_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(False, make_sid(ACS_CONTROLLER, SetIds.MEKF_DATA), 2.0)
+        cmd_tuple = enable_periodic_hk_command_with_interval(
+            False, make_sid(ACS_CONTROLLER, SetIds.MEKF_DATA), 2.0
+        )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
     elif op_code in OpCodes.DISABLE_MEKF_HK:
         q.add_log_cmd(Info.DISABLE_MEKF_HK)
-            q.add_pus_tc(disable_periodic_hk_command(False, make_sid(ACS_CONTROLLER, SetIds.MEKF_DATA)))
+        q.add_pus_tc(
+            disable_periodic_hk_command(
+                False, make_sid(ACS_CONTROLLER, SetIds.MEKF_DATA)
+            )
+        )
     elif op_code in OpCodes.REQUEST_CTRL_VAL_HK:
         q.add_log_cmd(Info.REQUEST_CTRL_VAL_HK)
-            q.add_pus_tc(generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.CTRL_VAL_DATA)))
+        q.add_pus_tc(
+            generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.CTRL_VAL_DATA))
+        )
     elif op_code in OpCodes.ENABLE_CTRL_VAL_HK:
         q.add_log_cmd(Info.ENABLE_CTRL_VAL_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(False, make_sid(ACS_CONTROLLER, SetIds.CTRL_VAL_DATA), 2.0)
+        cmd_tuple = enable_periodic_hk_command_with_interval(
+            False, make_sid(ACS_CONTROLLER, SetIds.CTRL_VAL_DATA), 2.0
+        )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
     elif op_code in OpCodes.DISABLE_CTRL_VAL_HK:
         q.add_log_cmd(Info.DISABLE_CTRL_VAL_HK)
-        q.add_pus_tc(disable_periodic_hk_command(False, make_sid(ACS_CONTROLLER, SetIds.CTRL_VAL_DATA)))
+        q.add_pus_tc(
+            disable_periodic_hk_command(
+                False, make_sid(ACS_CONTROLLER, SetIds.CTRL_VAL_DATA)
+            )
+        )
     elif op_code in OpCodes.REQUEST_ACT_CMD_HK:
         q.add_log_cmd(Info.REQUEST_ACT_CMD_HK)
-        q.add_pus_tc(generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.ACTUATOR_CMD_DATA)))
+        q.add_pus_tc(
+            generate_one_hk_command(make_sid(ACS_CONTROLLER, SetIds.ACTUATOR_CMD_DATA))
+        )
     elif op_code in OpCodes.ENABLE_ACT_CMD_HK:
         q.add_log_cmd(Info.ENABLE_ACT_CMD_HK)
-        cmd_tuple = enable_periodic_hk_command_with_interval(False, make_sid(ACS_CONTROLLER, SetIds.ACTUATOR_CMD_DATA),
+        cmd_tuple = enable_periodic_hk_command_with_interval(
-                                                             2.0)
+            False, make_sid(ACS_CONTROLLER, SetIds.ACTUATOR_CMD_DATA), 2.0
+        )
         q.add_pus_tc(cmd_tuple[0])
         q.add_pus_tc(cmd_tuple[1])
     elif op_code in OpCodes.DISABLE_ACT_CMD_HK:
         q.add_log_cmd(Info.DISABLE_ACT_CMD_HK)
-        q.add_pus_tc(disable_periodic_hk_command(False, make_sid(ACS_CONTROLLER, SetIds.ACTUATOR_CMD_DATA)))
+        q.add_pus_tc(
+            disable_periodic_hk_command(
+                False, make_sid(ACS_CONTROLLER, SetIds.ACTUATOR_CMD_DATA)
+            )
+        )
     else:
         LOGGER.info(f"Unknown op code {op_code}")
 
@@ -309,11 +388,15 @@ def handle_acs_ctrl_sus_raw_data(pw: PrintWrapper, hk_data: bytes):
         )
         return
     current_idx = 0
+    vec_fmt = "["
+    for _ in range(5):
+        vec_fmt += "{:#06x}, "
+    vec_fmt += "{:#06x}]"
     for idx in range(12):
         fmt_str = "!HHHHHH"
         length = struct.calcsize(fmt_str)
         sus_list = struct.unpack(fmt_str, hk_data[current_idx : current_idx + length])
-        sus_list_formatted = [f"{val:#04x}" for val in sus_list]
+        sus_list_formatted = vec_fmt.format(*sus_list)
         current_idx += length
         pw.dlog(f"SUS {idx} RAW: {sus_list_formatted}")
     pw.printer.print_validity_buffer(hk_data[current_idx:], num_vars=12)
@@ -458,26 +541,27 @@ def handle_gyr_data_raw(pw: PrintWrapper, hk_data: bytes):
         pw.dlog("HK data too small")
         return
     current_idx = 0
-    gyr_0_adis = [
+    float_str_fmt = "[{:8.3f}, {:8.3f}, {:8.3f}]"
-        f"{val:8.3f}" for val in struct.unpack(double_fmt, hk_data[:inc_len_double])
+    gyr_0_adis = struct.unpack(
-    ]
+        double_fmt, hk_data[current_idx : current_idx + inc_len_double]
+    )
     current_idx += inc_len_double
-    gyr_1_l3 = [
+    gyr_1_l3 = struct.unpack(
-        f"{val:8.3f}" for val in struct.unpack(float_fmt, hk_data[:inc_len_flt])
+        float_fmt, hk_data[current_idx : current_idx + inc_len_flt]
-    ]
+    )
     current_idx += inc_len_flt
-    gyr_2_adis = [
+    gyr_2_adis = struct.unpack(
-        f"{val:8.3f}" for val in struct.unpack(double_fmt, hk_data[:inc_len_double])
+        double_fmt, hk_data[current_idx : current_idx + inc_len_double]
-    ]
+    )
+    current_idx += inc_len_double
+    gyr_3_l3 = struct.unpack(
+        float_fmt, hk_data[current_idx : current_idx + inc_len_flt]
+    )
     current_idx += inc_len_flt
-    gyr_3_l3 = [
+    pw.dlog(f"{'GYR 0 ADIS'.ljust(15)}: {float_str_fmt.format(*gyr_0_adis)}")
-        f"{val:8.3f}" for val in struct.unpack(float_fmt, hk_data[:inc_len_flt])
+    pw.dlog(f"{'GYR 1 L3'.ljust(15)}: {float_str_fmt.format(*gyr_1_l3)}")
-    ]
+    pw.dlog(f"{'GYR 2 ADIS'.ljust(15)}: {float_str_fmt.format(*gyr_2_adis)}")
-    current_idx += inc_len_flt
+    pw.dlog(f"{'GYR 3 L3'.ljust(15)}: {float_str_fmt.format(*gyr_3_l3)}")
-    pw.dlog(f"GYR 0 ADIS: {gyr_0_adis}")
-    pw.dlog(f"GYR 1 L3: {gyr_1_l3}")
-    pw.dlog(f"GYR 2 ADIS: {gyr_2_adis}")
-    pw.dlog(f"GYR 3 L3: {gyr_3_l3}")
     pw.printer.print_validity_buffer(hk_data[current_idx:], 4)
 
 
@@ -516,15 +600,31 @@ def handle_gps_data_processed(pw: PrintWrapper, hk_data: bytes):
         pw.dlog("Received HK set too small")
         return
     current_idx = 0
-    lat = [f"{val:8.3f}" for val in struct.unpack(fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar])]
+    lat = [
+        f"{val:8.3f}"
+        for val in struct.unpack(
+            fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar]
+        )
+    ]
     current_idx += inc_len_scalar
-    long = [f"{val:8.3f}" for val in struct.unpack(fmt_scalar, hk_data[current_idx: current_idx + inc_len_scalar])]
+    long = [
+        f"{val:8.3f}"
+        for val in struct.unpack(
+            fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar]
+        )
+    ]
     current_idx += inc_len_scalar
-    velo = [f"{val:8.3f}" for val in struct.unpack(fmt_vec, hk_data[current_idx: current_idx + inc_len_vec])]
+    velo = [
+        f"{val:8.3f}"
+        for val in struct.unpack(
+            fmt_vec, hk_data[current_idx : current_idx + inc_len_vec]
+        )
+    ]
     pw.dlog(f"GPS Latitude: {lat} [rad]")
     pw.dlog(f"GPS Longitude: {long} [rad]")
     pw.dlog(f"GPS Velocity: {velo} [m/s]")
 
+
 def handle_mekf_data(pw: PrintWrapper, hk_data: bytes):
     pw.dlog("Received MEKF Set")
     fmt_quat = "!dddd"
@@ -535,9 +635,19 @@ def handle_mekf_data(pw: PrintWrapper, hk_data: bytes):
         pw.dlog("Received HK set too small")
         return
     current_idx = 0
-    quat = [f"{val:8.3f}" for val in struct.unpack(fmt_quat, hk_data[current_idx : current_idx + inc_len_quat])]
+    quat = [
+        f"{val:8.3f}"
+        for val in struct.unpack(
+            fmt_quat, hk_data[current_idx : current_idx + inc_len_quat]
+        )
+    ]
     current_idx += inc_len_quat
-    rate = [f"{val:8.3f}" for val in struct.unpack(fmt_vec, hk_data[current_idx : current_idx + inc_len_vec])]
+    rate = [
+        f"{val:8.3f}"
+        for val in struct.unpack(
+            fmt_vec, hk_data[current_idx : current_idx + inc_len_vec]
+        )
+    ]
     pw.dlog(f"MEKF Quaternion: {quat}")
     pw.dlog(f"MEKF Rotational Rate: {rate}")
 
@@ -552,11 +662,26 @@ def handle_ctrl_val_data(pw: PrintWrapper, hk_data: bytes):
         pw.dlog("Received HK set too small")
         return
     current_idx = 0
-    tgt_quat = [f"{val:8.3f}" for val in struct.unpack(fmt_quat, hk_data[current_idx : current_idx + inc_len_quat])]
+    tgt_quat = [
+        f"{val:8.3f}"
+        for val in struct.unpack(
+            fmt_quat, hk_data[current_idx : current_idx + inc_len_quat]
+        )
+    ]
     current_idx += inc_len_quat
-    err_quat = [f"{val:8.3f}" for val in struct.unpack(fmt_quat, hk_data[current_idx : current_idx + inc_len_quat])]
+    err_quat = [
+        f"{val:8.3f}"
+        for val in struct.unpack(
+            fmt_quat, hk_data[current_idx : current_idx + inc_len_quat]
+        )
+    ]
     current_idx += inc_len_quat
-    err_ang = [f"{val:8.3f}" for val in struct.unpack(fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar])]
+    err_ang = [
+        f"{val:8.3f}"
+        for val in struct.unpack(
+            fmt_scalar, hk_data[current_idx : current_idx + inc_len_scalar]
+        )
+    ]
     pw.dlog(f"Control Values Target Quaternion: {tgt_quat}")
     pw.dlog(f"Control Values Error Quaternion: {err_quat}")
     pw.dlog(f"Control Values Error Angle: {err_ang} [rad]")
@@ -574,14 +699,26 @@ def handle_act_cmd_data(pw: PrintWrapper, hk_data: bytes):
         pw.dlog("Received HK set too small")
         return
     current_idx = 0
-    rw_tgt_torque = [f"{val:8.3f}" for val in struct.unpack(fmt_vec4_double, hk_data[current_idx : current_idx +
+    rw_tgt_torque = [
-                                                                                                 inc_len_vec4_double])]
+        f"{val:8.3f}"
+        for val in struct.unpack(
+            fmt_vec4_double, hk_data[current_idx : current_idx + inc_len_vec4_double]
+        )
+    ]
     current_idx += inc_len_vec4_double
-    rw_tgt_speed = [f"{val:d}" for val in struct.unpack(fmt_vec4_int32, hk_data[current_idx : current_idx +
+    rw_tgt_speed = [
-                                                                                               inc_len_vec4_int32])]
+        f"{val:d}"
+        for val in struct.unpack(
+            fmt_vec4_int32, hk_data[current_idx : current_idx + inc_len_vec4_int32]
+        )
+    ]
     current_idx += inc_len_vec4_int32
-    mtq_tgt_dipole = [f"{val:d}" for val in struct.unpack(fmt_vec3_int16, hk_data[current_idx : current_idx +
+    mtq_tgt_dipole = [
-                                                                                             inc_len_vec3_int16])]
+        f"{val:d}"
+        for val in struct.unpack(
+            fmt_vec3_int16, hk_data[current_idx : current_idx + inc_len_vec3_int16]
+        )
+    ]
     pw.dlog(f"Actuator Commands RW Target Torque: {rw_tgt_torque}")
     pw.dlog(f"Actuator Commands RW Target Speed: {rw_tgt_speed}")
     pw.dlog(f"Actuator Commands MTQ Target Dipole: {mtq_tgt_dipole}")