edit cpp implementation files to output telemetry

Author: hrfarmer

FprimeZephyrReference/Components/Drv/Lsm6dsoManager/Lsm6dsoManager.cpp

@@ -43,7 +43,11 @@ Drv::Acceleration Lsm6dsoManager ::accelerationRead_handler(FwIndexType portNum)
     sensor_channel_get(lsm6dso, SENSOR_CHAN_ACCEL_Y, &y);
     sensor_channel_get(lsm6dso, SENSOR_CHAN_ACCEL_Z, &z);
 
-    return Drv::Acceleration(Drv::sensor_value_to_f64(x), Drv::sensor_value_to_f64(y), Drv::sensor_value_to_f64(z));
+    Drv::Acceleration acceleration =
+        Drv::Acceleration(Drv::sensor_value_to_f64(x), Drv::sensor_value_to_f64(y), Drv::sensor_value_to_f64(z));
+
+    this->tlmWrite_Acceleration(acceleration);
+    return acceleration;
 }
 
 Drv::AngularVelocity Lsm6dsoManager ::angularVelocityRead_handler(FwIndexType portNum) {
@@ -65,6 +69,7 @@ Drv::AngularVelocity Lsm6dsoManager ::angularVelocityRead_handler(FwIndexType po
     Drv::AngularVelocity angular_velocity =
         Drv::AngularVelocity(Drv::sensor_value_to_f64(x), Drv::sensor_value_to_f64(y), Drv::sensor_value_to_f64(z));
 
+    this->tlmWrite_AngularVelocity(angular_velocity);
     return angular_velocity;
 }
 
@@ -80,6 +85,8 @@ F64 Lsm6dsoManager ::temperatureRead_handler(FwIndexType portNum) {
 
     sensor_channel_get(lsm6dso, SENSOR_CHAN_DIE_TEMP, &temp);
 
+    this->tlmWrite_Temperature(Drv::sensor_value_to_f64(temp));
+
     return Drv::sensor_value_to_f64(temp);
 }
 

FprimeZephyrReference/Components/ImuManager/ImuManager.cpp

@@ -22,11 +22,12 @@ ImuManager ::~ImuManager() {}
 // ----------------------------------------------------------------------
 
 void ImuManager ::run_handler(FwIndexType portNum, U32 context) {
-    this->tlmWrite_Acceleration(this->accelerationRead_out(0));
-    this->tlmWrite_AngularVelocity(this->angularVelocityRead_out(0));
-    // this->tlmWrite_MagneticField(this->magneticFieldRead_out(0));
-    this->tlmWrite_Temperature(this->temperatureRead_out(0));
+    // Read from Lsm6dsoManager
+    this->accelerationRead_out(0);
+    this->angularVelocityRead_out(0);
+    this->temperatureRead_out(0);
 
+    // Read from Lis2mdlManager
     this->magneticFieldRead_out(0);
 }
 }  // namespace Components

FprimeZephyrReference/Components/ImuManager/ImuManager.fpp

@@ -20,6 +20,5 @@ module Components {
         ###############################################################################
         @ Port for requesting the current time
         time get port timeCaller
-        
     }
 }