change controller_chery_sterra_es_fcm. change pid integral time to 1 seconds.

src/controller/controller_chery_sterra_es_fcm/main.cpp

@@ -121,6 +121,9 @@ double  PIDTorque(double torque)
 
     if((nnow - gnLastAccUptime)>1e9)return torque;
 
+    std::vector<int64_t> xvectorintegtime;
+    std::vector<double> xvectorintegerr;
+
     static double error_previous = 0.0;
     static double integral = 0.0;
     double fVehWeight = 1800;
@@ -134,7 +137,23 @@ double  PIDTorque(double torque)
     double error = accAim - gfVehAcc;
     double dt = 0.01; //10ms
     double diff = (error - error_previous)/dt;
-    integral = integral + error * dt * ki;
+//    integral = integral + error * dt * ki;
+    xvectorintegtime.push_back(nnow);
+    xvectorintegerr.push_back(error);
+    unsigned int i;
+    unsigned int nsize = 0;//static_cast<unsigned int>(xvectorintegerr.size());
+    while(xvectorintegerr.size()>0)
+    {
+        if(abs(nnow - xvectorintegtime[0])>1e9){
+            xvectorintegerr.erase(xvectorintegerr.begin());xvectorintegtime.erase(xvectorintegtime.begin());
+        }
+        else {
+            break;
+        }
+    }
+    integral = 0;
+    nsize = static_cast<unsigned int>(xvectorintegerr.size());
+    for(i=0;i<nsize;i++)integral = xvectorintegerr[i]*dt*ki;
     double output = error * kp + integral + diff * kd;
 
     double fAccAjust = accAim + output;

src/controller/controller_chery_sterra_es_fcm/sterraes.cpp

@@ -26,116 +26,116 @@ void sterraes::SetMsgSignal(std::string  strmsgname,std::string  strsigname,cons
 }
 
 
-void sterraes::initsig()
-{
-    SignalPackValue sv;
-    sv.name = "ADS_1_RollgCntr1";sv.value = 0;mvectorADSEPS1.push_back(sv);
-    sv.name = "ADS_1_Resd1";sv.value = 0;mvectorADSEPS1.push_back(sv);
-    sv.name = "ADS_1_SteerAgReq";sv.value = 0;mvectorADSEPS1.push_back(sv);
-    sv.name = "ADS_1_SteerAgVld";sv.value = 0;mvectorADSEPS1.push_back(sv);
-    sv.name = "ADS_1_SteerPilotAgEna";sv.value = 0;mvectorADSEPS1.push_back(sv);
-    sv.name = "ADS_1_RollgCntr2";sv.value = 0;mvectorADSEPS1.push_back(sv);
-    sv.name = "ADS_1_Resd2";sv.value = 0;mvectorADSEPS1.push_back(sv);
-    sv.name = "ADS_1_SteerTqEna";sv.value = 0;mvectorADSEPS1.push_back(sv);
-    sv.name = "ADS_1_LdwWarningCmd";sv.value = 0;mvectorADSEPS1.push_back(sv);
-    sv.name = "ADS_1_LdwWarningCmdVld";sv.value = 0;mvectorADSEPS1.push_back(sv);
-    sv.name = "ADS_1_SteerMaxTqReq";sv.value = 0;mvectorADSEPS1.push_back(sv);
-    sv.name = "ADS_1_SteerMinTqReq";sv.value = 0;mvectorADSEPS1.push_back(sv);
-    sv.name = "ADS_1_ADSHealthSts";sv.value = 0;mvectorADSEPS1.push_back(sv);
-    sv.name = "CutOutFreshvalues_2CB_S";sv.value = 0;mvectorADSEPS1.push_back(sv);
-    sv.name = "CutOutMAC_2CB_S";sv.value = 0;mvectorADSEPS1.push_back(sv);
-
-    sv.name = "ADS_3_RollgCntr1";sv.value = 0;mvectorADSEPS3.push_back(sv);
-    sv.name = "ADS_3_Resd1";sv.value = 0;mvectorADSEPS3.push_back(sv);
-    sv.name = "ADS_3_SteerParkAgReq";sv.value = 0;mvectorADSEPS3.push_back(sv);
-    sv.name = "ADS_3_SteerParkAgVld";sv.value = 0;mvectorADSEPS3.push_back(sv);
-    sv.name = "ADS_3_SteerParkAgEna";sv.value = 0;mvectorADSEPS3.push_back(sv);
-    sv.name = "ADS_3_RollgCntr2";sv.value = 0;mvectorADSEPS3.push_back(sv);
-    sv.name = "ADS_3_Resd2";sv.value = 0;mvectorADSEPS3.push_back(sv);
-    sv.name = "ADS_3_ParkFcnMode";sv.value = 0;mvectorADSEPS3.push_back(sv);
-    sv.name = "ADS_3_ADSParkHealthSts";sv.value = 0;mvectorADSEPS3.push_back(sv);
-
-    sv.name = "ADS_1_RollgCntr1";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
-    sv.name = "ADS_1_Resd1";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
-    sv.name = "ADS_1_PilotCtrlRepSta";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
-    sv.name = "ADS_1_PilotParkCtrlType";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
-    sv.name = "ADS_1_PilotParkBrkDecTar";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
-    sv.name = "ADS_1_PilotParkCtrlRepMod";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
-    sv.name = "ADS_1_PilotParkBrkDecTarVld";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
-    sv.name = "ADS_1_PilotParkBrkDecTarEnable";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
-    sv.name = "ADS_1_PilotParkDec2StpReq";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
-    sv.name = "ADS_1_PilotParkDriOffReq";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
-    sv.name = "ADS_1_StopDist";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
-    sv.name = "ADS_1_ParkCtrlMod";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
-    sv.name = "ADS_1_PreFillReq";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
-    sv.name = "ADS_EPBCtrlReqValid";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
-    sv.name = "ADS_EPBCtrlReq";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
-
-    sv.name = "ADS_1_RollgCntr1";sv.value = 0;mvectorADSVCU1.push_back(sv);
-    sv.name = "ADS_1_Resd1";sv.value = 0;mvectorADSVCU1.push_back(sv);
-    sv.name = "ADS_1_DrvTarTq";sv.value = 0;mvectorADSVCU1.push_back(sv);
-    sv.name = "ADS_1_DrvTarTqVld";sv.value = 0;mvectorADSVCU1.push_back(sv);
-    sv.name = "ADS_1_DrvCtrlReq";sv.value = 0;mvectorADSVCU1.push_back(sv);
-    sv.name = "ADS_1_CtrlReqMod";sv.value = 0;mvectorADSVCU1.push_back(sv);
-    sv.name = "ADS_1_DrvTarTqEnable";sv.value = 0;mvectorADSVCU1.push_back(sv);
-    sv.name = "ADS_1_AMAPRequest";sv.value = 0;mvectorADSVCU1.push_back(sv);
-    sv.name = "ADS_1_AMAPRequestVld";sv.value = 0;mvectorADSVCU1.push_back(sv);
-    sv.name = "ADS_1_ADCCAvl";sv.value = 0;mvectorADSVCU1.push_back(sv);
-    sv.name = "ADS_1_AMAPTqLimit";sv.value = 0;mvectorADSVCU1.push_back(sv);
-    sv.name = "ADS_1_AMAPTqLimitVld";sv.value = 0;mvectorADSVCU1.push_back(sv);
-    sv.name = "ADS_1_RollgCntr2";sv.value = 0;mvectorADSVCU1.push_back(sv);
-    sv.name = "ADS_1_Resd2";sv.value = 0;mvectorADSVCU1.push_back(sv);
-//    sv.name = "ADS_1_TarGearReq";sv.value = 0;mvectorADSVCU1.push_back(sv);
-//    sv.name = "ADS_1_TarGearReqVld";sv.value = 0;mvectorADSVCU1.push_back(sv);
-//    sv.name = "ADS_1_GearCtrlEnable";sv.value = 0;mvectorADSVCU1.push_back(sv);
-//    sv.name = "ADS_1_RpaPTReadyReq";sv.value = 0;mvectorADSVCU1.push_back(sv);
-
-    sv.name = "FCM_2_CRC1";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
-    sv.name = "FCM_2_RollgCntr1";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
-    sv.name = "FCM_2_Resd1";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
-    sv.name = "FCM_2_AebReqTyp";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
-    sv.name = "FCM_2_AebTarDec";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
-    sv.name = "FCM_2_AebTarDecVld";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
-    sv.name = "FCM_2_AwbReq";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
-    sv.name = "FCM_2_AwbLvl";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
-    sv.name = "FCM_2_BrkPreFillReq";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
-    sv.name = "FCM_2_AbaReq";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
-    sv.name = "FCM_2_AbaLvl";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
-    sv.name = "FCM_2_Avl";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
-
-    sv.name = "FCM_3_CRC1";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
-    sv.name = "FCM_3_RollgCntr1";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
-    sv.name = "FCM_3_Resd1";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
-    sv.name = "FCM_3_PilotParkCtrlRepSta";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
-    sv.name = "FCM_3_PilotCtrlType";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
-    sv.name = "FCM_3_PilotkBrkDecTar";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
-    sv.name = "FCM_3_PilotBrkDecTarVld";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
-    sv.name = "FCM_3_PilotBrkDecTarReq";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
-    sv.name = "FCM_3_PilotDec2StpReq";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
-    sv.name = "FCM_3_PilotDriOffReq";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
-    sv.name = "CutOutFreshvalues_2CB_S";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
-    sv.name = "CutOutMAC_2CB_S";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
-
-
-    sv.name = "ADS_2_RollgCntr1";sv.value = 0;mvectorADSCOM2.push_back(sv);
-    sv.name = "ADS_2_Resd1";sv.value = 0;mvectorADSCOM2.push_back(sv);
-    sv.name = "ADS_2_FunctionSuppressReq";sv.value = 0;mvectorADSCOM2.push_back(sv);
-    sv.name = "ADS_2_HWRequest";sv.value = 0;mvectorADSCOM2.push_back(sv);
-    sv.name = "ADS_2_PP_M_Request";sv.value = 0;mvectorADSCOM2.push_back(sv);
-    sv.name = "ADS_2_AEBStatus";sv.value = 0;mvectorADSCOM2.push_back(sv);
-    sv.name = "ADS_2_ClosingSpeed";sv.value = 0;mvectorADSCOM2.push_back(sv);
-    sv.name = "ADS_2_TTC";sv.value = 0;mvectorADSCOM2.push_back(sv);
-    sv.name = "ADS_2_Object";sv.value = 0;mvectorADSCOM2.push_back(sv);
-    sv.name = "ADS_2_Object_Status";sv.value = 0;mvectorADSCOM2.push_back(sv);
-    sv.name = "ADS_2_FCWStatus";sv.value = 0;mvectorADSCOM2.push_back(sv);
-    sv.name = "FCM_2_SysStatus";sv.value = 0;mvectorADSCOM2.push_back(sv);
-
-
-
-    sv.name = "ADS_3_RollgCntr1";sv.value = 0;mvectorADSCOM3.push_back(sv);
-    sv.name = "ADS_3_ACCSts";sv.value = 0;mvectorADSCOM3.push_back(sv);
-
-}
+// void sterraes::initsig()
+// {
+//     SignalPackValue sv;
+//     sv.name = "ADS_1_RollgCntr1";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_Resd1";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_SteerAgReq";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_SteerAgVld";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_SteerPilotAgEna";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_RollgCntr2";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_Resd2";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_SteerTqEna";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_LdwWarningCmd";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_LdwWarningCmdVld";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_SteerMaxTqReq";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_SteerMinTqReq";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_ADSHealthSts";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "CutOutFreshvalues_2CB_S";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "CutOutMAC_2CB_S";sv.value = 0;mvectorADSEPS1.push_back(sv);
+
+//     sv.name = "ADS_3_RollgCntr1";sv.value = 0;mvectorADSEPS3.push_back(sv);
+//     sv.name = "ADS_3_Resd1";sv.value = 0;mvectorADSEPS3.push_back(sv);
+//     sv.name = "ADS_3_SteerParkAgReq";sv.value = 0;mvectorADSEPS3.push_back(sv);
+//     sv.name = "ADS_3_SteerParkAgVld";sv.value = 0;mvectorADSEPS3.push_back(sv);
+//     sv.name = "ADS_3_SteerParkAgEna";sv.value = 0;mvectorADSEPS3.push_back(sv);
+//     sv.name = "ADS_3_RollgCntr2";sv.value = 0;mvectorADSEPS3.push_back(sv);
+//     sv.name = "ADS_3_Resd2";sv.value = 0;mvectorADSEPS3.push_back(sv);
+//     sv.name = "ADS_3_ParkFcnMode";sv.value = 0;mvectorADSEPS3.push_back(sv);
+//     sv.name = "ADS_3_ADSParkHealthSts";sv.value = 0;mvectorADSEPS3.push_back(sv);
+
+//     sv.name = "ADS_1_RollgCntr1";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_Resd1";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_PilotCtrlRepSta";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_PilotParkCtrlType";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_PilotParkBrkDecTar";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_PilotParkCtrlRepMod";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_PilotParkBrkDecTarVld";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_PilotParkBrkDecTarEnable";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_PilotParkDec2StpReq";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_PilotParkDriOffReq";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_StopDist";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_ParkCtrlMod";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_PreFillReq";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_EPBCtrlReqValid";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_EPBCtrlReq";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+
+//     sv.name = "ADS_1_RollgCntr1";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_Resd1";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_DrvTarTq";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_DrvTarTqVld";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_DrvCtrlReq";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_CtrlReqMod";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_DrvTarTqEnable";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_AMAPRequest";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_AMAPRequestVld";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_ADCCAvl";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_AMAPTqLimit";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_AMAPTqLimitVld";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_RollgCntr2";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_Resd2";sv.value = 0;mvectorADSVCU1.push_back(sv);
+// //    sv.name = "ADS_1_TarGearReq";sv.value = 0;mvectorADSVCU1.push_back(sv);
+// //    sv.name = "ADS_1_TarGearReqVld";sv.value = 0;mvectorADSVCU1.push_back(sv);
+// //    sv.name = "ADS_1_GearCtrlEnable";sv.value = 0;mvectorADSVCU1.push_back(sv);
+// //    sv.name = "ADS_1_RpaPTReadyReq";sv.value = 0;mvectorADSVCU1.push_back(sv);
+
+//     sv.name = "FCM_2_CRC1";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_RollgCntr1";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_Resd1";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_AebReqTyp";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_AebTarDec";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_AebTarDecVld";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_AwbReq";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_AwbLvl";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_BrkPreFillReq";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_AbaReq";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_AbaLvl";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_Avl";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+
+//     sv.name = "FCM_3_CRC1";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "FCM_3_RollgCntr1";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "FCM_3_Resd1";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "FCM_3_PilotParkCtrlRepSta";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "FCM_3_PilotCtrlType";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "FCM_3_PilotkBrkDecTar";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "FCM_3_PilotBrkDecTarVld";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "FCM_3_PilotBrkDecTarReq";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "FCM_3_PilotDec2StpReq";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "FCM_3_PilotDriOffReq";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "CutOutFreshvalues_2CB_S";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "CutOutMAC_2CB_S";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+
+
+//     sv.name = "ADS_2_RollgCntr1";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_Resd1";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_FunctionSuppressReq";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_HWRequest";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_PP_M_Request";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_AEBStatus";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_ClosingSpeed";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_TTC";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_Object";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_Object_Status";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_FCWStatus";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "FCM_2_SysStatus";sv.value = 0;mvectorADSCOM2.push_back(sv);
+
+
+
+//     sv.name = "ADS_3_RollgCntr1";sv.value = 0;mvectorADSCOM3.push_back(sv);
+//     sv.name = "ADS_3_ACCSts";sv.value = 0;mvectorADSCOM3.push_back(sv);
+
+// }
 
 void sterraes::setsignal(std::vector<SignalPackValue> * pvectorspv,std::string strsigname,double value){
     int size = static_cast<int>(pvectorspv->size());